CWI: Composite Humanoid Whole-Body Imitation System for Loco-manipulation
Wenqi GE, Junde Guo, Zhen Fu, et al.
Accepted by IEEE Robotics and Automation Letters (RAL)
Wenqi GE | 葛文琪
I am a Ph.D. student at HKU's Agentic Intelligence Lab, under the guidance of Prof. Jiayu CHEN.
My research began with humanoid whole-body control and now centers on real-world humanoid reinforcement learning. I am currently an intern at LimX Dynamics, where I explore human-egocentric and humanoid data for reward modeling and real-world RL.
01
News
Our paper CWI was accepted by IEEE Robotics and Automation Letters.
I started my Ph.D. at the University of Hong Kong.
I began an internship at LimX Dynamics, working on humanoid control and real-robot reinforcement learning.
Our work on commonsense scene graphs received an oral presentation at IROS 2024.
I interned at Tencent Robotics X, working on LLM-guided robotic manipulation.
02
Selected Publications
A short list of research projects. See the full publication list for details.
A Survey of Behavior Foundation Model: Next-Generation Whole-Body Control System of Humanoid Robots
Mingqi Yuan, Tao Yu, Wenqi GE, Xiuyong Yao, et al.
Published in IEEE Transactions on Pattern Analysis and Machine Intelligence (TPAMI), 2026
Commonsense Scene Graph-based Target Localization for Object Search
Wenqi GE, Chao Tang, Hong Zhang
IROS 2024, Oral Presentation
GraspGPT: Leveraging Semantic Knowledge from a Large Language Model for Task-Oriented Grasping
Chao Tang, Dehao Huang, Wenqi GE, Weiyu Liu, Hong Zhang
IEEE Robotics and Automation Letters (RAL), 2023
03
Education
- Ph.D., The University of Hong Kong2025-present · Data and Systems Engineering
- M.S., Southern University of Science and Technology2022-2025 · Electronic Science and Technology
- B.S., Hefei University of Technology2018-2022 · Computer Science and Technology
04
Experience
- LimX DynamicsApr. 2025-present · Humanoid whole-body control and real-robot RL
- Tencent Robotics XMar. 2024-Aug. 2024 · LLM-guided robotic manipulation
05
Selected Honors
- Outstanding Graduate, Hefei University of Technology, 2022
- Runner-up, ROBOMASTER Regional Tournament, 2020-2021
- Champion, National Undergraduate Engineering Training Competition (Anhui), 2021
- Runner-up, National College Computer Competency Challenge (East China), 2021
- Champion, Anhui Province Robotics Competition, 2021
- Champion, Anhui Province College IoT Application Innovation Competition, 2021