Sevyn Huang.
Sevyn Huang with a Unitree robot

Sevyn Huang

I'm a first-year master's student in Computer Science at Tsinghua University, advised by Prof. Hang Su.

Research Interests: robotics, large scale machine learning, dexterous hand.

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Publication

  1. MOSAIC robot demonstration

    MOSAIC: Bridging the Sim-to-Real Gap in Generalist Humanoid Motion Tracking and Teleoperation with Rapid Residual Adaptation

    Zhenguo Sun, Bo-Sheng Huang, Yibo Peng, Xukun Li, Jingyu Ma, Yu Sun, Zhe Li, Haojun Jiang, Biao Gao, Zhenshan Bing, Xinlong Wang, Alois Knoll

    Diverse motion data and in-domain residual adaptation improve humanoid motion tracking and teleoperation.

    • Motion Tracking
    arXivGitHubDataset
  2. DECO manipulation demonstration at twice normal speed

    DECO: Decoupled Multimodal Diffusion Transformer for Bimanual Dexterous Manipulation with a Plugin Tactile Adapter

    Xukun Li, Yu Sun, Lei Zhang, Bosheng Huang, Yibo Peng, Yuan Meng, Haojun Jiang, Shaoxuan Xie, Guocai Yao, Alois Knoll, Zhenshan Bing, Xinlong Wang, Zhenguo Sun

    Decoupled multimodal diffusion and a lightweight tactile adapter enable precise bimanual dexterous manipulation.

    • ICML 2026
    • Dexterous Manipulation
    • Tactile
    arXivGitHubDataset
  3. RobotDancing humanoid motion sequence

    RobotDancing: Residual-Action Reinforcement Learning Enables Robust Long-Horizon Humanoid Motion Tracking

    Zhenguo Sun, Yibo Peng, Yuan Meng, Xukun Li, Bo-Sheng Huang, Zhenshan Bing, Xinlong Wang, Alois Knoll

    Reference-anchored residual corrections enable robust, long-horizon humanoid motion tracking.

    • RAL
    • Motion Tracking
    arXiv