Yanjiang Guo

I am a third year CS PhD student at Institute for Interdisciplinary Information Sciences, Tsinghua University, advised by Prof. Jianyu Chen. Previously, I obtained my bachelor's degree from Department of Electronic Engineering, Tsinghua University.

My research focuses on Embodied AI, with a particular emphasis on training robot foundation models capable of performing a wide range of tasks in dynamic, open environments. I believe that co-training with internet data and leveraging pre-trained generative models (e.g., VLM, video diffusion model, etc.) are crucial for developing effective generalist robot policies.

Email / Scholar / Twitter / Github

"Set your course by the stars, not by the lights of passing ships."

Honors and Awards:
[2024.07] RSS 2024 Best Paper Award Finalists.
[2022.06] Outstanding Graduates of Tsinghua (Top 10%).
[2017.11] 34th Chinese Physics Olympiad (CPhO), Silver Metal.

Selected Publications

Papers related to robot foundation model training are highlighted.

	Prediction with Action: Visual Policy Learning via Joint Denoising Process Yanjiang Guo, Yucheng Hu, Jianke Zhang, Yen-Jen Wang, Xiaoyu Chen, Chaochao Lu#, Jianyu Chen# Neural Information Processing Systems(NeurIPS), 2024 project page / code / arXiv
	HiRT: Enhancing Robotic Control with Hierarchical Robot Transformers Jianke Zhang, Yanjiang Guo, Xiaoyu Chen, Yen-Jen Wang, Yucheng Hu, Chengming Shi, Jianyu Chen Conference on Robot Learning (CoRL), 2024 project page / code / arXiv
	Advancing Humanoid Locomotion: Mastering Challenging Terrains with Denoising World Model Learning Xinyang Gu, Yen-Jen Wang, Xiang Zhu, Chengming Shi, Yanjiang Guo, Yichen Liu, Jianyu Chen Robotics: Science and Systems (RSS), 2024 (Best Paper Award Finalists) project page / code / arXiv
	DoReMi: Grounding Language Model by Detecting and Recovering from Plan-Execution Misalignment Yanjiang Guo* , Yen-Jen Wang, Lihan Zha, Jianyu Chen International Conference on Intelligent Robots and Systems (IROS), 2024 project page / code / arXiv

Other Publications

Decentralized Motor Skill Learning for Complex Robotic Systems
Yanjiang Guo*, Zheyuan Jiang*, Yen-Jen Wang, Jingyue Gao, Jianyu Chen
IEEE Robotics and Automation Letters (RA-L), 2023 (also appear in ICRA 2024)

Zero-shot policy transfer with disentangled task representation of meta-reinforcement learning
Zheng Wu, Yichen Xie, Wenzhao Lian, Changhao Wang, Yanjiang Guo, Jianyu Chen, Stefan Schaal, Masayoshi Tomizuka
International Conference on Robotics and Automation (ICRA), 2023

Reinforcement learning with Demonstrations from Mismatched Task under Sparse Reward
Yanjiang Guo, Jingyue Gao, Zheng Wu, Chengming Shi, Jianyu Chen
Conference on Robot Learning (CoRL), 2022

Source code from Jon Barron.