SIRUI CHEN's CV

Education

• PhD. in Computer Science, Stanford University, 2023 - 2028 (Expected)
• B.S. in Computer Science, The University of Hong Kong, 2023

Research experience

• Summer & Fall 2025: Research Intern
  • Nvidia Research GEAR Lab
  • Duties include: Research scaling up humanoid compliant control.
• Summer 2024: Research Intern
  • Honda Research Institute
  • Duties include: Research dexterous tool manipulation with tactile sensing.
• Fall 2021 to Summer 2022: Undergraduate research intern
  • Stanford University
  • Duties include: Lead to independ projects under the supervision of professor C. Karen Liu. Developing new algorithms for closing the sim2real gap using as well as planning for contact-rich non-prehensile dexterous manipulation task. Participate and presenting at lab’s paper reading group.
  • Supervisor: Professor C. Karen Liu
• Summer 2021: Research Assistant
  • The University of Hong Kong
  • Duties include: As a URFP participant I lead the reseach project that develop of tools and investigate the how to use differentiable physics simulator for deformable object state representation learning.
  • Supervisor: Professor Jia Pan
• Spring 2021: AI Lab Intern
  • AWS Shanghai AI Lab
  • Duties included: Reproduce research paper in temporal graphs for DGL as example. Collaborating with a PhD student to develop new algorithms in continuos temporal dynamic graph event forecasting.
  • Supervisor: Professor Junchi Yan
• Summer 2020: Research Assistant
  • The University Of Hong Kong
  • Duties included: Exploring the potential as well as problems of using differentiable simulator for robot learning
  • Supervisor: Professor Jia Pan

Fun projects:

• Nimblephysics
  • Actively contributing to a open source differentiable simulator developed by Keenon Werling & Prof. C. Karen Liu. which focus on differentiable simulation of articulated rigid body in contact-rich environment.
• Robomaster ICRA AI Challenge 2020
  • Founded and lead HKU’s competition team, organized the code framework for development. Developed prize-winning a rapid navigator for wheeled robot during pendemic. Which ranked 10 over more than 50 teams.

Skills

• Python (Advanced)
  • Pytorch
  • DGL
  • ROS
  • Tensorflow
  • Nimblephysics
• C++ (Advanced)
  • ROS
  • OpenCV
  • Nimblephysics
• Java (Intermediate)

Publications

VLK: Learning Humanoid Loco-Manipulation from Synthetic Interactions in Reconstructed Scenes

Y. Wang, J. Li, S. Chen, T. Truong, P. Xu, P. Abbeel, R. Duan, K. Sreenath, A. Kanazawa, C. Sferrazza, G. Shi, C.K. Liu. (2026). "VLK: Learning Humanoid Loco-Manipulation from Synthetic Interactions in Reconstructed Scenes." CoRL.

CHIP: Adaptive Compliance for Humanoid Control through Hindsight Perturbation

S. Chen, Z. Cao, Z. Luo, F. Castaneda, C. Li, T. Wang, Y. Yuan, L. Fan, C.K. Liu, Y. Zhu. (2026). "CHIP: Adaptive Compliance for Humanoid Control through Hindsight Perturbation." CoRL.

SONIC: Supersizing Motion Tracking for Natural Humanoid Whole-Body Control

Z. Luo, Y. Yuan, T. Wang, C. Li, S. Chen, F. Castaneda, Z. Cao, X. Da, etc. (2026). "SONIC: Supersizing Motion Tracking for Natural Humanoid Whole-Body Control." Science Robotics.

SceneBot: Contact-Prompted General Humanoid Whole Body Tracking with Scene-Interaction

S. Chen, S. Zhao, Z. Wu, J. Li, G. Shi, C.K. Liu. (2026). "SceneBot: Contact-Prompted General Humanoid Whole Body Tracking with Scene-Interaction." Arxiv.

Hand-Eye Autonomous Delivery: Learning Humanoid Navigation, Locomotion and Reaching

S. Chen, Y. Ye, Z. Cao, J. Lew, P. Xu, C.K. Liu. (2025). &quotHand-Eye Autonomous Delivery: Learning Humanoid Navigation, Locomotion and Reaching. " CoRL.

GeoDEx: A Unified Geometric Framework for Tactile Dexterous and Extrinsic Manipulation under Force Uncertainty

S. Chen, S. Marinovic, S. Iba, R. S. Zarrin. (2025). &quot GeoDEx: A Unified Geometric Framework for Tactile Dexterous and Extrinsic Manipulation under Force Uncertainty. " RSS.

ARCap: Collecting High-quality Human Demonstrations for Robot Learning with Augmented Reality Feedback

S. Chen, C. Wang, K, Nguyen, L, Fei-Fei, C.K Liu. (2025). &quotARCap: Collecting High-quality Human Demonstrations for Robot Learning with Augmented Reality Feedback. " ICRA.

One-Shot Transfer of Long-Horizon Extrinsic Manipulation Through Contact Retargeting

A. Wu, R. Wang, S. Chen, C. Eppner, C.K Liu. (2024). "One-Shot Transfer of Long-Horizon Extrinsic Manipulation Through Contact Retargeting. " IROS.

SpringGrasp: Synthesizing Compliant, Dexterous Grasps under Shape Uncertainty

S. Chen, J. Bohg, C.K Liu. (2024). "SpringGrasp: Synthesizing Compliant, Dexterous Grasps under Shape Uncertainty. " RSS.

Synthesize Dexterous Nonprehensile Pregrasp for Ungraspable Objects

S. Chen, A. Wu, C.K Liu. (2023). "Synthesize Dexterous Nonprehensile Pregrasp for Ungraspable Objects. " SIGGRAPH.

CEP3: Community Event Prediction with Neural Point Process on Graph

X. Wang,S. Chen, Y. He, M. Wang, Q. Gan, J. Yan, Y. Yang. (2022). "CEP3: Community Event Prediction with Neural Point Process on Graph. " LoG 2022.

Real-time Model Predictive Control and System Identification Using Differentiable Physics Simulation

S. Chen, K. Werling, C.K Liu. (2022). "Real-time Model Predictive Control and System Identification Using Differentiable Physics Simulation. " IEEE-RAL.

DiffSRL: Learning Dynamic-aware State Representation for Deformable Object Control with Differentiable Simulator

S. Chen,Y. Liu, S. Yao, J. Li, T. Fan, J. Pan. (2022). "DiffSRL: Learning Dynamical State Representation for Deformable Object Manipulation with Differentiable Simulator. " IEEE-RAL.

Talks

Representing deformable object using differentiable physics simulator

October 31, 2021

Talk at HKU Robotics Lab Group Meeting, Hong Kong, HKSAR

Realtime Model Predictive Control and System Identification with Differentiable Physics Simulation

June 02, 2023

Talk at ICRA 2023, London, UK

SpringGrasp: Synthesizing Compliant, Dexterous Grasps under Shape Uncertainty

July 16, 2024

Talk at RSS 2024, Delft, Netherlands

Teaching

Student TA for ENGG 1330

Student TA for CS 224R

Service and leadership

• First Team leader and founder of HKU Robomaster ICRA AI Challenge team.
• IT Secretary of BTP voluntary teaching NGO (2018-2019).