ZC.

Robotics · Machine Learning

Ziyang Cheng

Ph.D. Student in Electronic Information at Tsinghua University

I am a first-year Ph.D. student in the Department of Automation at Tsinghua University, advised by Prof. Jiwen Lu.

Before that, I completed my undergraduate studies at Tsinghua University (2022–2026), earning bachelor's degrees in Mathematics and Physics & Mechanical Engineering.

I work on robotics and machine learning. My current research focuses on:

  1. Whole-Body Control for Legged Robots, studying coordinated whole-body behaviors for loco-manipulation.
  2. Humanoid Teleoperation, developing intuitive teleoperation systems that transfer human intent to humanoid robots.
  3. Safe and Robust Robotics, addressing both physical and semantic safety for robots operating in complex environments.
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Ziyang Cheng at Tsinghua University

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Selected work

Publications

Overview of the GigaBrain-WBC behavior world model and robot demonstrations
2026Preprint

GigaBrain-WBC-0.5: A Behavior World Model for Robust Whole-Body Control with Environment Interaction

Ziyang Cheng, Tianshu Tang, Jinxin Lan, Xinze Chen, Yuhan Gong, Zhichao Liu, Changzhong Wu, Yahao Mao, Zongyan Deng, Mingxuan Ma, Huasen Xi, Yilong Liu, Yutong Wu, Xiaofeng Wang, Yang Wang, Yun Ye, Guan Huang, Xiaojie Jin, Zheng Zhu, Jiwen Lu

arXiv preprint arXiv:2608.18234

Paper Webpage
Robot demonstrations and competence manifold projection overview for CMP
2026Preprint

CMP: Robust Whole-Body Tracking for Loco-Manipulation via Competence Manifold Projection

Ziyang Cheng, Haoyu Wei, Hang Yin, Xiuwei Xu, Bingyao Yu, Jie Zhou, Jiwen Lu

arXiv preprint arXiv:2604.07457

Paper Webpage
Adaptive grasping force tracking control diagram and experimental platform
2025Journal

An Adaptive Grasping Force Tracking Strategy for Nonlinear and Time-Varying Object Behaviors

Ziyang Cheng, Xiangyu Tian, Ruomin Sui, Tiemin Li, Yao Jiang

IEEE Transactions on Automation Science and Engineering, vol. 22, pp. 17063–17076

Paper Code

Get in touch

Let's talk about robots.

zy-cheng22@mails.tsinghua.edu.cn