Siheng Zhao

I am a second-year CS Ph.D. Student at the University of Southern California, advised by Prof. Yue Wang. My research is supported by the Amazon PhD Fellowship. I received my Bachelor's degree with highest honor from the School of Artificial Intelligence, Nanjing University.

Currently, I am also an Applied Scientist Intern at Amazon, Frontier AI & Robotics team, working closely with Dr. Rocky Duan, Prof. Pieter Abbeel, Prof. Guanya Shi, and Prof. C. Karen Liu.

Email / Google Scholar / Github / Twitter

News

[Sep, 2025] I'm honored and grateful to receive the Amazon PhD Fellowship!
[Aug, 2025] RoLA is accepted by CoRL 2025 and ICCV 2025 gDT-IV Workshop as Spotlight.
[July, 2025] UH-1 is accepted by Humanoids 2025 as Oral.
[Apr, 2025] I'll join Amazon Frontier AI & Robotics as Applied Scientist Intern this summer!
[Apr, 2025] RoboVerse is accepted by RSS 2025 as Oral.
[Sep, 2024] OSWorld is accepted by NeurIPS 2024.
[Sep, 2024] TieBot is accepted by CoRL 2024 as Oral.
[Jan, 2024] Text2Reward and Lemur are accepted by ICLR 2024 as Spotlight.
[Dec, 2023] Awarded SenseTime Scholarship (30 undergraduates in the field of AI in China).
[Dec, 2023] Awarded Nanjing University Top-Grade Scholarship (highest honor in Nanjing University).
[July, 2023] ClothesNet is accepted by ICCV 2023.
[June, 2023] DiffClothAI is accepted by IROS 2023 as Oral.

Research

Current topics:

Humanoid whole-body control and loco-manipulation: ResMimic (arXiv'25), TWIST2 (arXiv'25), UH-1 (Humanoids'25 Oral).
Scaling up robot learning via scalable:
- data generation from internet images and videos: RoLA (CoRL'25), UH-1 (Humanoids'25 Oral);
- reward generation: Text2Reward (ICLR'24 Spotlight);
- simulation and evaluation: RoboVerse (RSS'25 Oral), InternUtopia (arXiv'24).

Previous topics:

Language and multimodal agents: OSWorld (NeurIPS'24), Lemur (ICLR'24 Spotlight).
Simulation, perception, and manipulation of deformable objects: TieBot (CoRL'24 Oral), DiffClothAI (IROS'23 Oral), ClothesNet (ICCV'23).

Selected Publications

* denotes equal contribution. For the full publication list, please refer to my Google Scholar .

	ResMimic: From General Motion Tracking to Humanoid Whole-Body Loco-Manipulation via Residual Learning Siheng Zhao, Yanjie Ze, Yue Wang, C. Karen Liu^†, Pieter Abbeel^†, Guanya Shi^†, Rocky Duan^† arXiv 2025 [arxiv] [project]
	TWIST2: Scalable, Portable, and Holistic Humanoid Data Collection System Yanjie Ze, Siheng Zhao, Weizhuo Wang, Angjoo Kanazawa^†, Rocky Duan^†, Pieter Abbeel^†, Guanya Shi^†, Jiajun Wu^†, C. Karen Liu^† arXiv 2025 [arxiv] [project]
	Robot Learning from Any Images Siheng Zhao, Jiageng Mao, Wei Chow, Zeyu Shangguan, Tianheng Shi, Rong Xue, Yuxi Zheng, Yijia Weng, Yang You, Daniel Seita, Leonidas Guibas, Sergey Zakharov, Vitor Guizilini, Yue Wang CoRL 2025 ICCV 2025 gDT-IV Workshop, Spotlight [arxiv] [project]
	Universal Humanoid Robot Pose Learning from Internet Human Videos Jiageng Mao, Siheng Zhao, Siqi Song, Tianheng Shi, Junjie Ye, Mingtong Zhang, Haoran Geng, Jitendra Malik, Vitor Guizilini, Yue Wang Humanoids* 2025, Oral [arxiv] [project] [dataset🤗]
	OSWorld: Benchmarking Multimodal Agents for Open-Ended Tasks in Real Computer Environments Tianbao Xie, Danyang Zhang, Jixuan Chen, Xiaochuan Li, Siheng Zhao, Ruisheng Cao, Toh Jing Hua, Zhoujun Cheng ... Yitao Liu, Yiheng Xu, Shuyan Zhou, Silvio Savarese, Caiming Xiong, Victor Zhong, Tao Yu NeurIPS 2024, followed and used by OpenAI & Anthropic [arxiv] [project]
	Text2Reward: Reward Shaping with Language Models for Reinforcement Learning Siheng Zhao, Tianbao Xie, Chen Henry Wu, Yitao Liu, Qian Luo, Victor Zhong, Yanchao Yang, Tao Yu ICLR 2024, Spotlight [arxiv] [project]
	DiffClothAI: Differentiable Cloth Simulation with Intersection-free Frictional Contact and Differentiable Two-Way Coupling with Articulated Rigid Bodies Xinyuan Yu, Siheng Zhao, Siyuan Luo, Gang Yang, Lin Shao IROS 2023, Oral Presentation [paper] [project]

Education

University of Southern California
Ph.D. in Computer Science (2024 - )
Advisor: Prof. Yue Wang

Nanjing University
B.Eng. in Artificial Intelligence (2020 - 2024)
Overall GPA: 94.4/100, Ranking: 1/97

National University of Singapore
Exchange in Computer Science (2023)
Overall GPA: 4.0/4.0, Advisor: Prof. Lin Shao

Work Experience

Amazon, FAR (Frontier AI & Robotics) Team
Applied Scientist Intern (2025 - 2026)
Advisor: Dr. Rocky Duan, Prof. Pieter Abbeel

Shanghai AI Lab, OpenRobot Group
Research Intern (2024)
Advisor: Dr. Jiangmiao Pang

The University of Hong Kong, XLang Lab
Research Assistant (2023 - 2024)
Advisor: Prof. Tao Yu

Services

Conference Reviewer:
- AI & ML: NeurIPS' 25/24, ICLR' 26/25
- Computer Vision: CVPR' 26/25, ICCV' 25, ECCV' 24, 3DV' 26, WACV' 26
- Robotics: CoRL' 25, ICRA' 26/24, IROS' 25
Journal Reviewer:
- IEEE Robotics and Automation Letter (RA-L) 2025
Teaching:
- CSCI 566 Deep Learning and Its Application, 2025 Fall

Selected Honors & Awards

Amazon PhD Fellowship, 2025
University of Southern California PhD Fellowship, 2024
SenseTime Scholarship, 2023, awarded to 30 undergraduates in the field of AI in China
Nanjing University Top-Grade Scholarship, 2023, the highest honor in Nanjing University
National Scholarship, 2021, the highest honor in China's University