Lujie Yang

I am a Member of Technical Staff at Amazon Frontier AI & Robotics (FAR). I obtained my PhD from MIT EECS advised by Prof. Russ Tedrake and my bachelor's degree from UC Berkeley advised by Prof. Francesco Borrelli.

I aim to enable robots with human-like dexterity, agility, and intelligence in contact-rich manipulation and whole-body loco-manipulation. My research fuses model-based optimization with data-driven techniques to create robust, data-efficient solutions for complex physical interaction.

I love playing badminton, visiting museums and writing classical Chinese poetry. Here is a selected collection of my poems.

   /      /   lujie [at] mit (dot) edu

Perceptive Humanoid Parkour: Chaining Dynamic Human Skills via Motion Matching
Zhen Wu*, Xiaoyu Huang*, Lujie Yang*, Yuanhang Zhang, Koushil Sreenath, Xi Chen, Pieter Abbeel†, Rocky Duan†, Angjoo Kanazawa†, Carmelo Sferrazza†, Guanya Shi†, C. Karen Liu†
Robotics: Science and Systems (RSS) 2026
[Project] [Paper]

OmniRetarget: Interaction-Preserving Data Generation for Humanoid Whole-Body Loco-Manipulation and Scene Interaction
Lujie Yang*, Xiaoyu Huang*, Zhen Wu*, Angjoo Kanazawa†, Pieter Abbeel†, Carmelo Sferrazza†, C. Karen Liu†, Rocky Duan†, Guanya Shi†
International Conference on Robotics and Automation (ICRA) 2026
Best Conference Paper Award
Best Paper Award on Robot Manipulation and Locomotion
[Project] [Video] [Paper]

Physics-Driven Data Generation for Contact-Rich Manipulation via Trajectory Optimization
Lujie Yang, H.J. Terry Suh*, Tong Zhao*, Bernhard Paus Græsdal, Tarik Kelestemur, Jiuguang Wang, Tao Pang, Russ Tedrake
Robotics: Science and Systems (RSS) 2025
[Project] [Video] [Paper] [MIT News]

A New Semidefinite Relaxation for Linear and Pieceweise-Affine Optimal Control with Time Scaling
Lujie Yang, Tobia Marcucci, Pablo Parrilo, Russ Tedrake
International Conference on Robotics and Automation (ICRA) 2025
[Paper]

Lyapunov-stable Neural Control for State and Output Feedback: A Novel Formulation
Lujie Yang*, Hongkai Dai*, Zhouxing Shi, Cho-Jui Hsieh, Russ Tedrake, Huan Zhang
International Conference on Machine Learning (ICML) 2024
[Paper] [Code] [MIT News]

Fighting Uncertainty with Gradients: Offline Reinforcement Learning via Diffusion Score Matching
H.J. Terry Suh, Glen Chou*, Hongkai Dai*, Lujie Yang*, Abhishek Gupta, Russ Tedrake
Conference on Robot Learning (CoRL) 2023
[Project] [Paper] [Code]

Approximate Optimal Controller Synthesis for Cart-Poles and Quadrotors via Sums-of-Squares
Lujie Yang, Hongkai Dai, Alexandre Amice, Russ Tedrake
Robotics and Automation Letters (RA-L) 2023
MIT LIDS Student Conference 2023, Best Presentation Award
[Video] [Paper] [Code]

Global Planning for Contact-Rich Manipulation via Local Smoothing of Quasi-Dynamic Contact Models
Tao Pang*, H.J. Terry Suh*, Lujie Yang, Russ Tedrake
Transactions on Robotics (T-RO) 2023, King-Sun Fu Memorial Best Paper Award Honorable Mention
[Project] [Paper] [Code] [MIT News]

Lyapunov-stable neural-network control
Hongkai Dai, Benoit Landry, Lujie Yang, Marco Pavone, Russ Tedrake
Robotics: Science and Systems (RSS) 2021
[Paper] [Code]