Jiayi Chen

Jiayi Chen | 陈嘉毅

I am a final-year Ph.D. student in computer science at Peking University, advised by Prof. He Wang.

My research focuses on low-level robot planning and control, particularly contact-rich dexterous grasping and manipulation. I believe model-based planning and control offer an efficient and generalizable way to incorporate physical priors into scalable data generation for robot learning. I am actively exploring this direction in my research.

Email / Google Scholar / Github

Selected Publications

First-author and co-first-author papers. Full publication list on Google Scholar.

Highlighted publications are shown with a shaded background.

*: equal contribution; †: corresponding author(s)

	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† CoRL*, 2026 arXiv
	GraspADMM: Improving Dexterous Grasp Synthesis via ADMM Optimization Liangwang Ruan, Jiayi Chen*, He Wang†, Baoquan Chen† IROS*, 2026 arXiv / code
	TacDexGrasp: Compliant and Robust Dexterous Grasping with Tactile Feedback Yubin Ke, Jiayi Chen*, Hang Lv, Xiao Zhou, He Wang† arXiv preprint, 2026 arXiv
	Robust Differentiable Collision Detection for General Objects Jiayi Chen, Wei Zhao, Liangwang Ruan, Baoquan Chen, He Wang† ICRA, 2026 arXiv / code
	Dexonomy: Synthesizing All Dexterous Grasp Types in a Grasp Taxonomy Jiayi Chen, Yubin Ke, Lin Peng, He Wang† RSS, 2025 project page / arXiv / code /
	BODex: Scalable and Efficient Robotic Dexterous Grasp Synthesis Using Bilevel Optimization Jiayi Chen, Yubin Ke, He Wang† ICRA, 2025 project page / arXiv / code / benchmark / dataset
	Task-Oriented Dexterous Hand Pose Synthesis Using Differentiable Grasp Wrench Boundary Estimator Jiayi Chen, Yuxing Chen, Jialiang Zhang, He Wang† IROS, 2024 project page / arXiv / code
	Tracking and Reconstructing Hand Object Interactions from Point Cloud Sequences in the Wild Jiayi Chen, Mi Yan, Jiazhao Zhang, Yinzhen Xu, Xiaolong Li, Yijia Weng, Li Yi, Shuran Song, He Wang† AAAI, 2023 (Oral) project page / arXiv / code
	Projective Manifold Gradient Layer for Deep Rotation Regression Jiayi Chen, Yingda Yin, Tolga Birdal, Baoquan Chen, Leonidas Guibas, He Wang† CVPR, 2022 project page / arXiv / code

Experience

	Peking University, China 2022.09 - Present Ph.D. Student in Computer Science Advisor: Prof. He Wang
	Peking University, China 2018.09 - 2022.07 B.S. in Computer Science Advisor: Prof. He Wang

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Last updated: September 20, 2026