I am a fifth-year Ph.D. student at Robotics Institute, CMU, advised by Prof. David Held. Before coming to CMU, I received my B.S. in computer science from Peking University.

My research interest lies in robotics, machine learning, and computer vision. In particular, I develop algorithms for reinforcement learning and data-driven dynamics modeling and apply these algorithms to robotic manipulation, such as manipulating various deformable objects. My long-term goal is to build autonomous robots that can perceive, interact and explore the physical world.

Email: xlin3 (at) cs.cmu.edu
Google Scholar / Github / Twitter / CV


One paper accepted at ICLR 2022! [OpensReview]
Proposed my PhD thesis. [Link]
One paper on cloth manipulation accepted at CoRL 2021! [OpensReview]
Invited talk at RSS 2021 workshop on Deformable Object Simulation. (Co-present with David Held) [Link]


DiffSkill: Skill Abstraction from Differentiable Physics for Deformable Object Manipulations with Tools
Xingyu Lin, Zhiao Huang, Yunzhu Li, Joshua B. Tenenbaum, David Held, Chuang Gan
ICLR 2022
OpenReview / Project Page

Learning Visible Connectivity Dynamics for Cloth Smoothing
Xingyu Lin*, Yufei Wang*, Zixuan Huang, David Held
CoRL 2021
Paper / Code / Project Page / Video
Abridged in ICRA 2021 workshop on Representing and Manipulating Deformable Object [Link]

SoftGym: Benchmarking Deep Reinforcement Learning for Deformable Object Manipulation
Xingyu Lin, Yufei Wang, Jake Olkin, David Held
CoRL 2020
Paper / Code / Project Page / BibTex

Visual Self-Supervised Reinforcement Learning with Object Reasoning
Yufei Wang*, Gautham Narayan*, Xingyu Lin, Brian Okorn, David Held
CoRL 2020
Paper / Code / Project Page/ BibTex

Adaptive Auxiliary Task Weighting for Reinforcement Learning
Xingyu Lin*, Harjatin Baweja*, George Kantor, David Held
NeurIPS 2019
Paper / Code / Poster / Slides / BibTex
Abridged in ICML 2019 workshop on Multi-Task and Lifelong Reinforcement Learning [Link]

Adaptive Variance for Changing Sparse-Reward Environments
Xingyu Lin, Pengsheng Guo, Carlos Florensa, David Held
ICRA 2019
Paper / Video / Project Page / BibTex

Reinforcement Learning without Ground-Truth State
Xingyu Lin, Harjatin Singh Baweja, David Held
ICML 2019, Workshop on Multi-Task and Lifelong Reinforcement Learning [Link]
Paper / Video / BibTex

Timeā€varying light motion in single convergence
Xingyu Lin, Mingxuan Chai, Sheng Li, Guoping Wang
CASA 2018
Paper / Code / Video

Transfer of View-manifold Learning to Similarity Perception
Xingyu Lin, Hao Wang, Zhihao Li, Yimeng Zhang, Alan Yuille, Tai Sing Lee
ICLR 2017
Paper / BibTex


  • Conference Reviewer: NeurIPS, ICML, ICLR, RSS, ICRA, CoRL
  • Journal Reviewer: IEEE RA-L, AURO

  • Contact

    Newell-Simon Hall, Room 4124,
    Pittsburgh, PA 15213