I am a third-year undergraduate student at Peking University, working on dexterous manipulation, embodied intelligence, and 3D visual perception. My goal is to develop human-like dexterous policies that enable robots to interact with the physical world naturally and robustly.

Dexterous Manipulation Embodied AI 3D Vision Generative Models Robot Learning

Selected Publications

Research

KPGrasp: Scalable Keypoint Flow Matching for Dexterous Grasp Generation

Yuansen Huang, Jiayi Chen, Haoran Liu, Yubin Ke, Bing Han, Jiangran Lyu, Mi Yan, Li Yi, He Wang
arXiv:2606.09314, 2026 · Computer Science > Robotics

A keypoint-based Flow Matching framework for scalable dexterous grasp generation, representing dexterous hand poses with 3D keypoints and learning grasp priors from large-scale data.

arXiv PDF Project Page Code

Education & Experience

Timeline
2023.09 — Present

Peking University

B.S. in Information and Computational Science
School of Electronics Engineering and Computer Science Elite undergraduate program GPA: 3.923 / 4.0 GPA rank: 1st in major Currently advised by Prof. He Wang
2026.01 — 2026.05

Carnegie Mellon University

Exchange Student in Computer Science
GPA: 4.0 / 4.0 Dean's List
2025.07 — Present

Galbot

Intern, Dexterous Manipulation Department
Working on dexterous manipulation, embodied robot learning, and related perception and action systems.

Honors & Awards

Selected
  • 2025 · Merit Student, Peking University
  • 2025 · China Merchants Securities Scholarship, Peking University
  • 2024 · National Scholarship, Peking University
  • 2024 · Merit Student, Peking University
  • 2024 · First Prize, 16th National College Mathematics Competition (Non-Mathematics)
  • 2025 · Second Prize, Peking University Programming Contest

Contact

Links
Email 2300011031@stu.pku.edu.cn GitHub github.com/Yuansen-Huang