Yiqi Wang

I am a master student in robotics (MSR) at Robotics Institute, Carnegie Mellon University (CMU), supervised by Prof. Jeff Schneider. Previously, I am an ECE master student (CMU) worked with Prof. Yuejie Chi and Prof. Chris Atkeson. I received my BS from University of Wisconsin-Madison in Computer Science, and worked as an undergraduate researcher at Informatics Skunkworks, under the supervision of Prof. Dane Morgan.

Email  /  Resume (Nov, 2025)  /  Google Scholar  /  Github  / 

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Research Interests

I interested in developing sample-efficient algorithms for robot learning. This includes:

  1. How to learn priors (i.e., a model) from existing data that are unstructured (e.g., images, videos), and across embodiments (robots, human)?
  2. How to leverage the learned priors to faciliate robot during inference or online improvement (e.g., RL)?
Real world robot data is small in size due to hardware limitations, it can never match the size of the visual data online (in the wild), that contains useful information regarding common objects and live spaces. Capable of learning from these data could lead to prior with basic "understanding" on common objects/scenes, easily adaptable to a new task or robot. I'm interested in using World Models (WM) to digest existing data that are multi-embodiment, and collected from different sources. Such a WM could be adapted to a specific robot with a smalll amount of data and improve the robot's decisions via planning and model-based RL.



Projects

Latent Policy Steering with Embodiment-Agnostic Pretrained World Models
Yiqi Wang, Mrinal Verghese, Jeff Schneider,
Under Review, 2025
[paper] [presentation]
[read more]

Scalable Dynamic Resource Allocation via Domain Randomized Reinforcement Learning
Yiqi Wang, Laixi Shi, Martin Hyungwoo Lee, Jaroslaw Sydir, Zhu Zhou, Yuejie Chi, Bin Li,
IEEE GLOBECOM, 2024
[paper] [poster]
[read more]

A trajectory is worth three sentences: multimodal transformer for offline reinforcement learning
Yiqi Wang, Mengdi Xu, Laixi Shi, Yuejie Chi,
Proceedings of the Thirty-Ninth Conference on Uncertainty in Artificial Intelligence, (UAI), 2023
[paper] [code] [presentation]
[read more]

Automatic Speech Recognition Meets Language Modeling
Yiqi Wang, Jianyu Mao, Aditya Rathod, [code]
[read more]

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