Zhiyuan Ma
Tsinghua Shenzhen International Graduate School
About me
I am an incoming Ph.D. student at Tsinghua Shenzhen International Graduate School. My research focuses on embodied AI, especially dexterous hand manipulation and real-world reinforcement learning. I work in the Artificial Intelligence of Things Group under the supervision of Prof. Xinlei Chen and Prof. Chao Yu. Before that, I was an undergraduate in the Department of Computer Science at Peking University, where I mainly studied 3D vision and general dexterous grasping.
age : 22
address : Tsinghua Shenzhen International Graduate School
hobbies : guitar, singing, ping pong, fitness
CET-6 : 564
Research Experience
PKU-Galbot Joint Lab
Under the guidance of senior Jiayi Chen, I read research papers, organized 3D assets, and optimized the grasp generation pipeline.
PKU-AgiBot Joint Lab
Under the guidance of senior Jiyao Zhang and senior Tianhao Wu, I studied representation learning for cross-embodiment general dexterous hand grasping in cluttered scenes and published CADGrasp.
Jingdong Jingang Project Team
I post-trained and deployed the RDT-2 model on a dual-arm robot, and cleaned OpenX-Embodiment data.
PsiBot
I studied real-world reinforcement learning for dexterous hands and published LAMP.
Publications
CADGrasp: Learning Contact and Collision Aware General Dexterous Grasping in Cluttered Scenes
Jiyao Zhang*, Zhiyuan Ma*, Tianhao Wu, Zeyuan Chen, Hao Dong
Accepted by NeurIPS 2025We propose CADGrasp, which learns a contact- and collision-aware intermediate representation as a constraint, and further obtains the dexterous grasp pose with an optimization method to achieve single-view dexterous hand grasping in cluttered scenes. Our method can be easily transferred to zero-shot robotic hands, showing cross-embodiment generalization ability. Accepted by NeurIPS 2025.
Awards
Merit Student
in the academic year of 2022-2023
Lingjun Leading Scholarship
in the academic year of 2022-2023
Tianchuang Scholarship
in the academic year of 2023-2024
Xiaomi Scholarship
in the academic year of 2024-2025
School-level Merit Student
in the academic year of 2024-2025
Peking University Outstanding Graduate
class of 2026
contact info
my address
Tsinghua Shenzhen International Graduate School
Tsinghua Campus, University Town, Xili, Nanshan District, Shenzhen
my number
(+86)18810685032
my email
1829142919@qq.com
2200013163@stu.pku.edu.cn