Yuxin Chen - 陈瑀昕

Hi there! I'm a third-year Ph.D. candidate at UC Berkeley, affiliated with the BAIR. I have the privilege of working with Prof. Masayoshi Tomizuka, a distinguished member of NAE in the MSC Lab.

Prior to this, I obtained a Master's degree in Robotics advised by Prof. Ram Vasudevan and a Bachelor's degree in Aerospace Engineering supervised by Prof. Ella Atkins from the University of Michigan, Ann Arbor. I also hold a Bachelor's degree in Mechanical Engineering from Shanghai Jiao Tong University.

During my graduate study, I am fortunate to have the opportunity as a research intern at RAI Institute and MERL. Previously, I have spent time at Zoox and ZF as software intern.

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yuxinc [at] berkeley [dot] edu

News
[May 2025] Our paper on Robotic Palletization won ICRA 2025 Best Paper Award in Automation (1/1606)!
[Apr 2025] I won the finalist award in the 2025 Qualcomm Innovation Fellowship !
[Mar 2025] I joined RAI Institute (previously BDAI) as a research intern!
[Feb 2025] I was invited to give a talk @ TwelveLabs Webinar!
[Jan 2025] Two accepted papers (Fine-tune Diffusion Policy and Robotic Palletization) at ICRA 2025!
[Sep 2024] One accepted paper (Continual Learning of VLM) at NeurIPS 2024!
[May 2024] One accepted paper (Multi-agent RL) at RLC 2024!

Publication & Preprint

* denotes equal contribution
Versatile Loco-Manipulation through Flexible Interlimb Coordination
Xinghao Zhu*, Yuxin Chen*, Lingfeng Sun*, Farzad Niroui, Simon Le Cleac'h, Jiuguang Wang, Kuan Fang

Under review, 2025
arXiv / Project Page
Reimagination with Test-time Observation Interventions: Distractor-Robust World Model Predictions for Visual Model Predictive Control
Yuxin Chen*, Jianglan Wei*, Chenfeng Xu, Boyi Li, Masayoshi Tomizuka, Andrea Bajcsy, Ran Tian

Under review, 2025
DexCtrl: Towards Sim-to-Real Dexterity with Adaptive Controller Learning
Shuqi Zhao, Ke Yang, Yuxin Chen, Chenran Li, Yichen Xie, Xiang Zhang, Changhao Wang, Masayoshi Tomizuka

Under review, 2025
arXiv
FDPP: Fine-tune Diffusion Policy with Human Preference
Yuxin Chen, Devesh K. Jha, Masayoshi Tomizuka, Diego Romeres

ICRA, 2025
ICRA workshop on safe VLM, 2025 (Oral)
arXiv
Physics-Aware Robotic Palletization with Online Masking Inference
Tianqi Zhang, Zheng Wu, Yuxin Chen, Yixiao Wang, Boyuan Liang, Scott Moura, Masayoshi Tomizuka, Mingyu Ding, Wei Zhan

ICRA, 2025 (Best Paper Award in Automation)
arXiv / Code
DexH2R: Task-oriented Dexterous Manipulation from Human to Robots
Shuqi Zhao*, Xinghao Zhu*, Yuxin Chen, Chenran Li, Xiang Zhang, Mingyu Ding, Masayoshi Tomizuka

Under review, 2024
arXiv
MEReQ: Max-Ent Residual-Q Inverse RL for Sample-Efficient Alignment from Intervention
Yuxin Chen*, Chen Tang*, Chenran Li, Ran Tian, Peter Stone, Masayoshi Tomizuka, Wei Zhan

Under review, 2024
arXiv / Project Page / Video
Advancing Cross-domain Discriminability in Continual Learning of Vision-Language Models
Yicheng Xu*, Yuxin Chen*, Jiahao Nie, Yusong Wang, Huiping Zhuang, Manabu Okumura

NeurIPS, 2024
arXiv / Code
Quantifying Agent Interaction in Multi-agent Reinforcement Learning for Cost-efficient Generalization
Yuxin Chen, Chen Tang, Ran Tian, Chenran Li, Jinning Li, Masayoshi Tomizuka, Wei Zhan

RLC, 2024
AAMAS, 2024
arXiv / Code
These Maps are Made for Walking: Real-Time Terrain Property Estimation for Mobile Robots
Parker Ewen, Adam Li, Yuxin Chen, Steven Hong, Ram Vasudevan

RA-L, 2022
arXiv / Project Page / Code / Video
Generating Continuous Motion and Force Plans in Real-Time for Legged Mobile Manipulation
Parker Ewen, Jean-Pierre Sleiman, Yuxin Chen, Wei-Chun Lu, Marco Hutter, Ram Vasudevan

ICRA, 2021
arXiv / Video
Nailed It: Autonomous Roofing with a Nailgun-Equipped Octocopter
Matthew M Romano, Yuxin Chen, Prince Kuevor, Owen Marshall, Ella Atkins

AIAA AVIATION, 2021
arXiv / Video

Education

UC Berkeley, Berkeley, CA

• PhD in Mechanical Engineering, Robotics & Control (2022 to Present)
University of Michigan, Ann Arbor, MI

• MS in Robotics (2020 to 2022)
• BS in Aerospace (2018 to 2020)
Shanghai Jiao Tong University, Shanghai, China

• BS in Mechanical Engineering (2016 to 2020)

Experience

RAI Institute (Boston Dynamics AI Institute), Cambridge, MA

• Research Intern
• Mar. 2025 ~ Jul. 2025
• Work on dexterous mobile manipulation
Mitsubishi Electric Research Laboratories, Cambridge, MA

• Research Intern
• May. 2024 ~ Aug. 2024
• Work on generative model on manipulation
Zoox, Foster City, CA

• Software Engineering Intern
• May. 2021 ~ Aug. 2021
• Work on motion planning for L5 robotaxi

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