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.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.

Email  /  Google Scholar  /  Github  /  WeChat

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News

  • [2025/09] 🎉 One paper gets accepted to NeurIPS 2025.
  • [2025/08] 🎉 ClutterDexGrasp 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
[CoRL 2025] Conference on Robot Learning 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
[NeurIPS 2025] Neural Information Processing Systems 2025
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
[IROS 2025] IEEE/RSJ International Conference on Intelligent Robots and Systems 2025
arXiv/ website

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





Borrowed from Jon Barron.