Yuyao Liu 刘域尧

I am an incoming PhD student in MIT EECS, advised by Prof. Leslie Pack Kaelbling and Prof. Tomás Lozano-Pérez. I also work closely with Prof. David Hsu (NUS and NVIDIA) and Prof. Jiayuan Mao (University of Pennsylvania).

I earned my B.Eng. in Computer Science, summa cum laude, from Yao Class, IIIS at Tsinghua University in June 2025, advised by Prof. Huazhe Xu.

Yuyao Liu (刘域尧)

News

  • I graduated from Tsinghua University as Outstanding Graduate honored by Beijing (Top 5%), by Tsinghua (Top 2%), and by Yao Class (Top 10%)!
  • I was honored with the National Scholarship (top 0.2% of students nationwide)!
  • I was awarded the “Andrew C. Yao Award” Gold Medal (the highest honor at Yao Class, 1 student)!
  • I received the SenseTime AI Scholarship (25 students across China)!

Publications

* Equal contribution · † Equal advising

  1. RAPID: Robot Agentic Programming from Demonstrations

    Yuyao Liu, Jiayuan Mao†, David Hsu†, Leslie Pack Kaelbling†, Tomás Lozano-Pérez†

    arXiv 2026

  2. GROW² robot tool-use demonstration

    GROW²: Grounding Which and Where for Robot Tool Use

    Yuhong Deng*, Yuyao Liu*, David Hsu

    CoRL 2026

  3. One-Shot Manipulation Strategy Learning by Making Contact Analogies

    Yuyao Liu*, Jiayuan Mao*, Joshua Tenenbaum, Tomás Lozano-Pérez, Leslie Pack Kaelbling

    ICRA 2025

  4. Stem-OB converges visually different observations through diffusion inversion

    Stem-OB: Generalizable Visual Imitation Learning with Stem-Like Convergent Observation through Diffusion Inversion

    Kaizhe Hu*, Zihang Rui*, Yao He, Yuyao Liu, Pu Hua, Huazhe Xu

    ICLR 2025 · Spotlight

  5. Comparing sequence models for partially observable decision-making

    Rethinking Transformers in Solving POMDPs

    Chenhao Lu, Ruizhe Shi*, Yuyao Liu*, Kaizhe Hu, Simon S. Du, Huazhe Xu

    ICML 2024

  6. LaMo adapts pre-trained language models to offline reinforcement learning

    Unleashing the Power of Pre-trained Language Models for Offline Reinforcement Learning

    Ruizhe Shi*, Yuyao Liu*, Yanjie Ze, Simon S. Du, Huazhe Xu

    ICLR 2024

  7. H-InDex dexterous robotic hand manipulation demonstration

    H-InDex: Visual Reinforcement Learning with Hand-Informed Representations for Dexterous Manipulation

    Yanjie Ze, Yuyao Liu*, Ruizhe Shi*, Jiaxin Qin, Zhecheng Yuan, Jiashun Wang, Huazhe Xu

    NeurIPS 2023

Miscellaneous

In my spare time, I enjoy playing ice hockey, skating (also roller skating) and playing table tennis. I am also a big fan of American musicals.

  • I was a member of Tsinghua University’s ice hockey team from October 2023 to June 2025. We won the Championship in CUHL regular season 2024!
  • I was the manager of the table tennis club at IIIS, Tsinghua University from September 2022 to September 2023.

Tsinghua University’s ice hockey team