Mingrui YU / 于铭瑞 / Harry YU

I am Mingrui YU, a robotics researcher. I’m now pursuing the Ph.D. degree in the Intelligent Manipulation Lab, Department of Automation, Tsinghua University, supervised by Prof. Xiang Li. From 10/2023 to 03/2024, I was a visiting student at the MSC Lab in UC Berkeley, supervised by Prof. Masayoshi Tomizuka.

Research Interest: I’m interested in machine learning, planning, and control with their applications to robotic dexterous manipulation of various objects, including in-hand manipulation and deformable object manipulation.

I am leading an NSFC Youth Student Research Project (for PhD students) / 首批国家自然科学基金青年学生基础研究项目（博士生项目）entitled “Visual-tactile dexterous manipulation of deformable linear objects with a dual-arm robot”.

Future Opportunities: I am open to potential academic and industry job opportunities following my graduation in June 2026. Please feel free to contact me.

Email: mingruiyu98@gmail.com (recommended); ymr20@mails.tsinghua.edu.cn (国内使用).

Education

Department of Automation, Tsinghua University (Beijing, China)   08/2020 - 06/2026 (expected)
Ph.D. Student in Control Science and Engineering
GPA: 3.95/4.0, Ranking: 3/84

Department of Automation, Xi’an Jiaotong University (Xi’an, China)   08/2016 - 07/2020
B.Eng. in Automation (Honors Engineering Program, 钱学森班)
GPA: 4.09/4.3, Ranking: 1/35

Research Experience

Robotics X, Tencent (Shenzhen, China)   06/2024 - 09/2024
Advisor: Dr. Yu Zheng
Topic: Dexterous grasping and manipulation

Mechanical Systems Control Lab, University of California, Berkeley   10/2023 - 03/2024
Advisor: Prof. Masayoshi Tomizuka
Topic: Dexterous manipulation of (deformable) objects

Institute of Automation, Chinese Academy of Sciences (Beijing, China)   07/2018 - 06/2019
Advisor: Prof. Yisheng Lv
Topic: Reinforment learning for intelligent transportation system

Selected Publications

Please refer to the Publications page or my Google Scholar profile for all publications.

Minimizing Undesired Object Movements in Dexterous Grasping Control with Tactile-Feedback Arm-Hand Coordination

M. Yu*, X. Jiang*, Y. Jiang, and X. Li

Submitted to IROS, 2025

[Website]

Robust In-Hand Reorientation with Hierarchical RL-Based Motion Primitives and Model-Based Regrasping

Y. Jiang, M. Yu, C. Chen, Y. Jia, and X. Li

Submitted to IEEE Robotics and Automation Practice, 2025

[Website]

Robotic In-Hand Manipulation for Large-Range and Precise Object Movement: The RGMC Champion Solution

M. Yu, Y. Jiang, C. Chen, Y. Jia, and X. Li

IEEE Robotics and Automation Letters (RA-L), 2025

[Paper] [Website]

Generalizable whole-body global manipulation of deformable linear objects by dual-arm robot in 3-D constrained environments

M. Yu, K. Lv, C. Wang, Y. Jiang, M. Tomizuka, and X. Li

The International Journal of Robotics Research (IJRR), 2024

[Paper] [Website]

Global Model Learning for Large Deformation Control of Elastic Deformable Linear Objects: An Efficient and Adaptive Approach

M. Yu, K. Lv, H. Zhong, S. Song, and X. Li

IEEE Transactions on Robotics (T-RO), 2023

[Paper] [Website]

面向线状柔性物体的机器人操作研究进展与展望

于铭瑞, 李翔

机器人, 2024

[Paper]

In-Hand Following of Deformable Linear Objects Using Dexterous Fingers With Tactile Sensing

M. Yu, B. Liang, X. Zhang, X. Zhu, L. Sun, C. Wang, X. Li, M. Tomizuka

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024 (Oral)

[Paper] [Website]

Contact-Implicit Model Predictive Control for Dexterous In-hand Manipulation: A Long-Horizon and Robust Approach

Y. Jiang, M. Yu, X. Zhu, M. Tomizuka, X. Li

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024

[Paper] [Website]

A Coarse-to-Fine Framework for Dual-Arm Manipulation of Deformable Linear Objects with Whole-Body Obstacle Avoidance

M. Yu, K. Lv, C. Wang, M. Tomizuka, and X. Li

IEEE International Conference on Robotics and Automation (ICRA), 2023

Best Paper Award at the ICRA 2023 Workshop on Representing and Manipulating Deformable Objects

[Paper] [Website]

Learning to Estimate 3-D states of Deformable Linear Objects from Single-Frame Occluded Point Clouds

K. Lv, M. Yu, Y. Pu, X. Jiang, G. Huang, and X. Li

IEEE International Conference on Robotics and Automation (ICRA), 2023

[Paper] [Video]

Shape Control of Deformable Linear Objects with Offline and Online Learning of Local Linear Deformation Models

M. Yu, H. Zhong, and X. Li

IEEE International Conference on Robotics and Automation (ICRA), 2022

[Paper] [Website]

Competitions

• 1st Place in ICRA 2024 Robotic Grasping and Manipulation Competition - In-Hand Manipulation Track [Certificate] & The Most Elegant Solution Award Among All Tracks [Certificate]   2024
• 2nd Place in ICRA 2023 Virtual Manipulation Challenge [Certificate]   2023
• 2nd Place in ICRA 2022 RoboMaster University Sim2Real Challenge [Certificate]   2022
• COMAP Mathematical Contest in Modeling, Finalist Winners (Top 0.5%) [Certificate]   2018

Awards & Honors

• China Association for Science and Technology, Youth Talent Support Program for PhD students (中国科协青年人才托举工程博士生专项项目)   2024
• Tsinghua Jiang Nan-Xiang Scholarship (清华大学蒋南翔奖学金)   2024
• China National Scholarship for Graduate Students (研究生国家奖学金) [Certificate]   2024
• Best Paper Award at ICRA 2023 Workshop on Representing and Manipulating Deformable Objects   2023
• T.J. Tarn Best Paper Award in Robotics Finalist at 2023 IEEE ROBIO [Certificate]   2023
• Tsinghua Comprehensive Excellence Scholarship (清华大学综合优秀奖学金)   2022/2023
• Outstanding Graduate at XJTU (西安交大优秀毕业生)   2020
• First-Class Scholarship at XJTU (西安交大一等奖学金)   2019
• China National Scholarship for Undergraduate Students (本科生国家奖学金)   2018
• Outstanding Student at XJTU (西安交大优秀学生)   2017/2018/2019

Projects

Project Page

Academic Service

• Outstanding reviewer of IEEE Robotics and Automation Letters [Certificate]
• Outstanding volunteer of 2023 IEEE International Conference on Real-Time Computing and Robotics (RCAR) [Certificate]
• Reviewer for IJRR, T-RO, T-ASE, T-Mech, RA-L, …
• Reviewer for ICRA, IROS, …