Siheng Zhao

I am a first-year CS Ph.D. Student at University of Southern California, advised by Prof. Yue Wang. 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.

Previously, I was honoured to work with Prof. Tao Yu, Prof. Yanchao Yang, Prof. Lin Shao, and Dr. Jiangmiao Pang at the University of Hong Kong, National University of Singapore, and Shanghai AI Lab.

Email  /  Google Scholar  /  Github  /  Twitter

profile photo
News
  • [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.
  • [Aug, 2024] Formally join USC as a PhD student.
  • [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. Scaling up robot learning via scalable:

  • data generation (in-the-wild images and videos, human demonstration, and real2sim): UH-1 (arXiv'24)
  • reward generation: Text2Reward (ICLR'24 Spotlight)
  • simulation (sim2real) and evaluation: RoboVerse (RSS'25 Oral), GRUtopia (arXiv'24)

2. Humanoid whole-body control and loco-manipulation: UH-1 (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 Learning from Massive Human Videos for Universal Humanoid Pose Control
Siheng Zhao*, Jiageng Mao*, Siqi Song*, Tianheng Shi, Junjie Ye, Mingtong Zhang, Haoran Geng, Jitendra Malik, Vitor Guizilini, Yue Wang
arXiv 2024
[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)
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)
Advisor: Prof. Tao Yu, Prof. Yanchao Yang
Services
  • Conference Reviewer:
    • AI & ML: NeurIPS' 25/24, ICLR' 25
    • Computer Vision: CVPR' 25, ICCV' 25, ECCV' 24, WACV' 26
    • Robotics: CoRL' 25, ICRA' 24, IROS' 25
  • Journal Reviewer:
    • IEEE Robotics and Automation Letter (RA-L) 2025
Talks
  • Text2Reward: Reward Shaping with Language Models for Reinforcement Learning, SenseTime, 2024
  • Text2Reward: Reward Shaping with Language Models for Reinforcement Learning, Shanghai AI Lab, 2023, 2024
Honors & Awards
  • University of Southern California PhD Fellowship, 2024
  • Outstanding Graduate of Nanjing University, 2024
  • Travel Award of the International Conference on Learning Representations, 2024
  • Jiangsu Province Study Abroad Scholarship, 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
  • Bao Gang Scholarship & Special Prize Nomination, 2023
  • Heng Fang Scholarship, 2022
  • National Scholarship, 2021, the highest honor in China's University
  • China Telecom Scholarship, 2021

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