Siheng Zhao

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

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

Email  /  Google Scholar  /  Github  /  Twitter

profile photo
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 Oral.
  • [July, 2025] UH-1 is accepted by Humanoids 2025 as Oral.
  • [Apr, 2025] I'll join Amazon Frontier AI for Robotics as Applied Scientist Intern this summer!
  • [Apr, 2025] RoboVerse is accepted by RSS 2025 as Oral Presentation.
  • [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 Presentation.
Research

1. Humanoid whole-body control and loco-manipulation: ResMimic (arXiv'25), UH-1 (Humanoids'25 Oral).
2. Scaling up robot learning via scalable:

  • data generation (in-the-wild image and video, human demo): RoLA (CoRL'25), UH-1 (Humanoids'25 Oral), TieBot (CoRL'24 Oral)
  • reward generation: Text2Reward (ICLR'24 Spotlight)
  • simulation (sim2real) and evaluation: RoboVerse (RSS'25 Oral), InternUtopia (arXiv'24)

Previous topics:

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

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

profile photo 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]

profile photo 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, Oral
[arxiv] [project]

profile photo 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🤗]

profile photo 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]

profile photo 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]

profile photo 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
USC logo University of Southern California
Ph.D. in Computer Science (2024 - )
Advisor: Prof. Yue Wang
NJU logo Nanjing University
B.Eng. in Artificial Intelligence (2020 - 2024)
Overall GPA: 94.4/100, Ranking: 1/97
NUS logo National University of Singapore
Exchange in Computer Science (2023)
Overall GPA: 4.0/4.0, Advisor: Prof. Lin Shao
Work Experience
AILAB logo Amazon, FAR (Frontier AI for Robotics) Team
Applied Scientist Intern (2025 - 2026)
Advisor: Dr. Rocky Duan, Prof. Pieter Abbeel
AILAB logo Shanghai AI Lab, OpenRobot Group
Research Intern (2024)
Advisor: Dr. Jiangmiao Pang
HKU logo 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

Copyright 2025 © Siheng Zhao