Zeyuan Chen | 陈泽源

I am a second-year master's student at the Peking University.Currently, I am a research intern at Center on Frontiers of Computing Studies (CFCS) in the School of Computer Science at Peking University, advised by Prof. Hao Dong. Starting in September 2025, I will join Beijing Institute for General Artificial Intelligence (BIGAI) as a research intern under the supervision of Dr. Siyuan Huang. In early 2026, I will begin an applied scientist internship at Amazon Frontier AI & Robotics (FAR) Lab.

My research interests include Robotics and Dextereous Manipulation.

My goal is to have artificial general intelligence free humans from complex physical work.

Email / Google Scholar / Github / WeChat

News

[2025/08] 🎉 One paper gets accepted to CoRL 2025 as an Oral presentation, see you in Seoul!
[2025/06] 🎉 One paper gets accepted to IROS 2025 as oral presentation.

Publications

ClutterDexGrasp: A Sim-to-Real System for General Dexterous Grasping in Cluttered Scenes

Zeyuan Chen*, Qiyang Yan*, Yuanpei Chen*, Tianhao Wu, Jiyao Zhang, Zihan Ding, Jinzhou Li, Yaodong Yang, Hao Dong
Conference on Robot Learning (CoRL) 2025 (Oral)
arXiv / website

We propose the first close-loop sim-to-real system for general dexterous grasping in cluttered scenes.

CADGrasp: Learning Contact and Collision Aware General Dexterous Grasping in Cluttered Scenes

Jiyao Zhang*, Zhiyuan Ma*, Tianhao Wu**, Zeyuan Chen**, Hao Dong
Under Review
website / code (coming soon)

We propose a contact- and collision-aware intermediate representation for general dexterous grasping in clutterred scenes.

Adaptive Visual-Tacile Fusion with Predictive Force Attention for Dexterous Manipulation

Jinzhou Li*, Tianhao Wu*, Jiyao Zhang**, Zeyuan Chen**, Haotian Jin, Mingdong Wu, Yujun Shen, Yaodong Yang, Hao Dong
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2025)
arXiv/ website

We propose a force diffusion & force-guided attention fusion module that adaptively adjusts the weights of visual and tactile features.

Experience

	Beijing Institute for General Artificial Intelligence (BIGAI) 2025.09 - Present Research Intern Advised by Dr. Siyuan Huang
	JD 2025.07 - present Algorithm Intern
	AgiBot 2024.07 - 2025.05 Research Intern Advised by Prof. Hao Dong
	CFCS, Peking University 2023.09 - present Research Intern Advised by Prof. Hao Dong

Borrowed from Jon Barron.