Zhuoheng Wang

zhuoheng22 [at] mails.tsinghua.edu.cn

Hi! I am a final-year undergrad in Mechanics & Interdisciplinary Engineering at Tsinghua University. Currently, I am working on Humanoid Control with Shengbo Eben Li and Hang Zhao.

Previously, I was a Research Assistant at LIDAR Group at Georgia Tech, supervised by Ye Zhao and Anqi Wu. I was also fortunate to work with Mingguo Zhao, Guyue Zhou, and Weibin Gu at Tsinghua University.

CV | Google Scholar | Twitter | Youtube

Research Interests

Humanoids: Whole-Body Control, Humanoid Robot Learning, Multi-Agent Collaboration
Control & Safety: Safe Control, Control Barrier Functions, Model-Based Control, Learning-Based Control
Embodied Intelligence: Robot Foundation Models, Aerial Manipulation, Dexterous Manipulation

Awards & Honors

[10/2025] National Scholarship. Highest honor for undergraduates
[10/2025] Science & Technology Innovation Excellence Scholarship.
[12/2024] National Scholarship. Highest honor for undergraduates
[12/2024] Academic Excellence Scholarship.
[12/2023] Taihu Scholarship for Future Technology.
[12/2023] Science & Technology Innovation Excellence Scholarship.

News

[11/2025] Give a lecture at TA course on Humanoid Robot Locomotion Control.
[10/2025] Invited talk at Booster Robotics Ecosystem Conference 2025.

Publications

* denotes equal contribution

	SEEC: Stable End-Effector Control with Model-Enhanced Residual Learning for Humanoid Loco-Manipulation Jaehwi Jang, Zhuoheng Wang, Ziyi Zhou, Feiyang Wu, Ye Zhao Submitted to ICRA 2026 Page \| arXiv \| Video \| BibTeX
	Dribble Master: Learning Agile Humanoid Dribbling Through Legged Locomotion Zhuoheng Wang, Jinyin Zhou, Qi Wu Submitted to ICRA 2026 Page \| arXiv \| Video \| BibTeX

RoboCup Competitions

	RoboCup 2024 Eindhoven Humanoid League KidSize Soccer Competition Team Leader Top Eight
	RoboCup China 2024 Humanoid League KidSize Soccer Competition Team Leader 1st Place
	RoboCup Asia-Pacific 2023 Humanoid League KidSize Soccer Competition Team Member 4th Place
	RoboCup China 2023 Humanoid League KidSize Soccer Competition Team Member 2nd Place

Experience

	Georgia Institute of Technology 06/2025 - 09/2025 Research Intern Advisor: Prof. Ye Zhao and Prof. Anqi Wu
	Booster Robotics 11/2024 - 04/2025 Research Intern
	Tsinghua University 08/2022 - Present Bachelor in Mechanics & Interdisciplinary Engineering GPA: 3.9/4.0