Xiangyu Miao 「缪翔宇」

I am a third-year master's student at Shanghai Jiao Tong University, advised by Prof. Weinan Zhang (张伟楠). I also completed my undergraduate studies at SJTU.

During the first half of my master's program, I joined an engineering exchange program at École Polytechnique in France.

My research lies at the intersection of reinforcement learning, humanoid robotics, and general-purpose loco-manipulation, with a focus on foundation policies that unify perception and whole-body control.

I aim to develop learning-based methods that enable humanoid robots to move and interact with the physical world as capable whole-body agents. I believe progress in embodied intelligence will come from combining effective algorithmic structure with diverse, scalable experience, so that learned policies can generalize across behaviors, environments, and embodiments.

I am currently seeking PhD opportunities. If my background and research interests could be a good fit for your group, please feel free to reach out.

CV coming soon Google Scholar ORCID

Selected work

NEXUS humanoid teleoperation project preview

Coming Soon · Paper

NEXUS: A Perceptive Foundation Policy for Cross-Domain Whole-Body Teleoperation

A perceptive foundation policy for humanoid teleoperation that unifies visual perception and whole-body control across diverse scenes and terrains.

Paper website

Publications

Unitree A1 quadruped robot demonstrating posture-aware locomotion across diverse real-world terrains

DAI 2025 · Oral · Conference paper

Learning Embodied Quadruped Agents for Posture-Aware Locomotion

Xiangyu Miao, Jun Sun, Hang Lai, Xinpeng Di, Jiahang Cao, Yong Yu, and Weinan Zhang

An end-to-end reinforcement learning framework for quadruped locomotion that jointly tracks motion commands and regulates body posture, with sim-to-real transfer to real-world robots.

Paper ACM / DOI DAI / Accepted Papers