Portrait of Yankai Fu

Yankai Fu 傅彦凯

Master Student in CS Peking University ykfu25@stu.pku.edu.cn

About Me

Hi! I’m Yankai Fu (傅彦凯), a second-year Master student in Computer Science at Peking University, advised by Prof. Shanghang Zhang. My research focuses on building embodied AI systems that can interact with the physical world and achieve human-level dexterity. Feel free to reach out if you’d like to chat.

Research Interests

How can we build embodied AI systems with human-level physical intelligence?

  • Dexterous interaction: enabling embodied agents to perform precise, adaptive, and coordinated physical interactions with human-level dexterity.
  • Generalizable intelligence: developing systems that transfer across objects, tasks, environments, and embodiments with minimal additional training.
  • Physical reasoning: building actionable world models that capture geometry, contact, dynamics, and affordances, connecting multimodal perception to planning and physical action.

News

  • [Sep 2026] DeCAL and LiMA are accepted to CoRL 2026.
  • [Jul 2026] Data Pyramid for Embodied Manipulation is released, providing a comprehensive survey of data for embodied manipulation.
  • [Jul 2026] Dream-Tac is accepted to ACM MM 2026.
  • [Mar 2026] AoE is accepted to CVPR 2026 Workshop @ EmbodiedAIinLife.
  • [Jan 2026] SpikePingpong is accepted to ICLR 2026.
  • [Sep 2025] Joined Peking University as a Master student in Computer Science.
  • [Jun 2025] FVP is accepted to ICCV 2025.
Show more
  • [Jun 2025] Graduated with a B.E. degree and selected as Outstanding Undergraduate.
  • [Apr 2025] CordViP and RoboMIND are accepted to RSS 2025.
  • [Sep 2024] SIREN was accepted to S&P 2026.
  • [Oct 2024] Honored with the Lei Jun Outstanding Scholarship of Wuhan University (10/60k+, 100K RMB).
  • [Mar 2024] CORE is accepted to CogSci 2024 (Oral).
  • [Oct 2023] Awarded the Lei Jun Scholarship for Computer Science Undergraduates.
  • [Oct 2022] Awarded the National Scholarship (top 0.2% nationally).

Publications

2026 (5) 2025 (8) 2024 (3)

* and † indicate equal contribution and corresponding authorship, respectively. Representative works are highlighted.

2026

  1. DeCAL teaser CoRL
    DeCAL: Towards Physically-Grounded Dexterous Vision-Language-Action Models via Contact-Aware Latent Co-Imagination
    Yankai Fu*, Ning Chen*, Junkai Zhao, Heng Zhang, Guocai Yao, Pengwei Wang, Zhongyuan Wang, Shanghang Zhang†
    CoRL 2026
  2. LiMA teaser CoRL
    LiMA: Bridging Long-term Imagination to Real-time Dexterous Manipulation via Asynchronous Diffusion
    Ning Chen*, Yankai Fu*, Junkai Zhao, Qianpu Sun, Guocai Yao, Pengwei Wang, Zhongyuan Wang, Shanghang Zhang†
    CoRL 2026
  3. Data Pyramid for Embodied Manipulation survey teaser New
    Data Pyramid for Embodied Manipulation: A Survey
    Yifan Ye*, Yankai Fu*, Yaoxu Lv*, Bohan Hou*, Jun Cen*, Lingdong Kong*, Duo Zheng, Tianxing Chen, Jiaming Liu, Ziang Cao, Yunfan Lou, Wei Chow, Xian Sun, Yingshuo Wang, Kuangzhi Ge, Xiaowei Chi, Xidong Zhang, Zhibo Pang, Yiwu Zhong, Sirui Han, Zhihe Lu, Weihao Yuan, Qifeng Chen, Michael Yu Wang, Yao Mu, Ziwei Liu, Jianfei Yang, Ping Luo, Shanghang Zhang†
    arXiv preprint arXiv:2607.24744
    Paper Project Page Github
  4. Dream-Tac teaser ACM MM
    Dream-Tac: A Unified Tactile World Action Model for Contact-Rich Robot Manipulation
    Yunfan Lou*, Yifan Ye*, Yankai Fu*, Jun Cen, Xiaowei Chi, Yaoxu Lyu, Peidong Jia, Sirui Han, Zhihe Lu, Shanghang Zhang†
    ACM MM 2026
    PDF Github
  5. AoE teaser CVPR 2026 Workshop
    AoE: Always-on egocentric human video collection for embodied AI
    Bowen Yang*, Zishuo Li*, Yang Sun*, Changtao Miao*, Yifan Yang, Man Luo, Xiaotong Yan, Feng Jiang, Jinchuan Shi, Yankai Fu, Ning Chen, Junkai Zhao, Pengwei Wang, Guocai Yao, Shanghang Zhang, Hao Chen, Zhe Li, Kai Zhu†
    CVPR 2026 Workshop @ EmbodiedAIinLife
    PDF

    6. 2025

    1. Robomind2.0 teaser arXiv
      Robomind 2.0: A multimodal, bimanual mobile manipulation dataset for generalizable embodied intelligence
      Chengkai Hou*, Kun Wu*, Jiaming Liu*, Zhengping Che, Di Wu, Fei Liao, Guangrun Li, Jingyang He, Qiuxuan Feng, Zhao Jin, Chenyang Gu, Zhuoyang Liu, Nuowei Han, Xiangju Mi, Yaoxu Lv, Yankai Fu, Gaole Dai, Langzhe Gu, Tao Li, Yuheng Zhang, Yixue Zhang, Xinhua Wang, Shichao Fan, Meng Li, Zhen Zhao, Ning Liu, Zhiyuan Xu, Pei Ren, Junjie Ji, Haonan Liu, Kuan Cheng, Shanghang Zhang†, Jian Tang†
      arXiv preprint arXiv:2512.24653
      Paper Dataset
    2. RoboCOIN teaser arXiv
      RoboCOIN: An open-sourced bimanual robotic data collection for integrated manipulation
      RoboCOIN Team
      arXiv preprint arXiv:2511.17441
      Paper Project Page Github Dataset
    3. METIS teaser arXiv
      METIS: Multi-Source Egocentric Training for Integrated Dexterous Vision-Language-Action Model
      Yankai Fu*, Ning Chen*, Junkai Zhao*, Shaozhe Shan, Guocai Yao, Pengwei Wang, Zhongyuan Wang, Shanghang Zhang†
      arXiv preprint arXiv:2511.17441
      Paper Project Page Github
    4. RoboOS-NeXT teaser arXiv
      RoboOS-NeXT: A Unified Memory-based Framework for Lifelong, Scalable, and Robust Multi-Robot Collaboration
      Huajie Tan*, Cheng Chi*, Xiansheng Chen*, Yuheng Ji*, Zhongxia Zhao, Xiaoshuai Hao, Yaoxu Lyu, Mingyu Cao, Junkai Zhao, Huaihai Lyu, Enshen Zhou, Ning Chen, Yankai Fu, Cheng Peng, Wei Guo, Dong Liang, Zhuo Chen, Mengsi Lyu, Chenrui He, Yulong Ao, Yonghua Lin, Pengwei Wang, Zhongyuan Wang, Shanghang Zhang†
      arXiv preprint arXiv:2510.26536
      Paper Project Page Github
    5. FVP teaser ICCV
      4D Visual Pre-training for Robot Learning
      Chengkai Hou, Yanjie Ze, Yankai Fu, Zeyu Gao, Songbo Hu, Yue Yu, Shanghang Zhang, Huazhe Xu
      ICCV 2025
      Paper Github
    6. CAN teaser Technical Report
      RoboBrain 2.0 Technical Report
      BAAI RoboBrain Team
      Technical Report
      Paper Project Page Github
    7. SpikePingpong teaser ICLR
      SpikePingpong: Spike Vision-based Fast-Slow Pingpong Robot System
      Hao Wang*, Chengkai Hou*, Xianglong Li*, Yankai Fu, Chenxuan Li, Ning Chen, Gaole Dai, Jiaming Liu, Tiejun Huang, Shanghang Zhang†
      ICLR 2026
      Paper
    8. CordViP teaser RSS
      CordViP: Correspondence-based Visuomotor Policy for Dexterous Manipulation in Real-World
      Yankai Fu*, Qiuxuan Feng*, Ning Chen*, Zichen Zhou, Mengzhen Liu, Mingdong Wu, Tianxing Chen, Shanyu Rong, Jiaming Liu, Hao Dong, Shanghang Zhang†
      RSS 2025 (Oral)
      Paper Project Page Github

    2024

    1. RoboMind teaser RSS
      RoboMIND: Benchmark on Multi-embodiment Intelligence Normative Data for Robot Manipulation
      RoboMind Team
      RSS 2025 (Oral)
      Paper Project Page Github Dataset
    2. SiREN teaser S&P
      Towards Reliable Verification of Unauthorized Data Usage in Personalized Text-to-Image Diffusion Models
      Boheng Li, Yanhao Wei, Yankai Fu, Zhenting Wang, Yiming Li†, Jie Zhang†, Run Wang, Tianwei Zhang
      IEEE S&P 2025
      Paper Github
    3. CORE teaser CogSci
      CORE: Mitigating Catastrophic Forgetting in Continual Learning through Cognitive Replay
      Jianshu Zhang*, Yankai Fu*, Ziheng Peng*, Dongyu Yao, Kun He
      CogSci 2024 (Oral)
      Paper Paper

Awards

  • 2025: Outstanding Graduate of Wuhan University
  • 2024: Lei Jun Outstanding Scholarship of Wuhan University (Highest-level Scholarship, 10/60k+, 100k RMB)
  • 2023: Lei Jun Scholarship for Computer Science Undergraduates (10K RMB)
  • 2022: National Undergraduate Scholarship of Chinese Government (8K RMB)

Education

  • Peking University, Master in Computer Science (2025-2028)
  • Wuhan University (2021-2025)
  • Zhejiang Zhoushan High School (2018-2021)