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Qingwei Ben
Ph.D. Stundent, The Chinese University of Hong Kong

Hi! I’m Qingwei Ben (贲清炜), second-year Ph.D. of Information Engineering, The Chinese University of Hong Kong supervised by Prof. Dahua Lin. My research focuses on Embodied AI, especially Humanoid Loco-Manipulation. I am now working with Dr. Jiangmiao Pang and Dr. Jingbo Wang at Intern Robotics, Shanghai AI Lab. Previously, I obtained my bachelor degree at Weiyang College, Tsinghua University, majoring in Mathematics and Physics + Software Engineering. If you are interested in having a discussion with me, please drop me an e-mail at elgceben@gmail.com or my wechat: elgceben.

Interests

  • Embodied AI
  • Humanoid
  • Loco-Manipulation
  • Teleoperation

Academia

The Chinese University of Hong Kong
2024 - 2028
Ph.D. Information Engineering
Supervised by Prof. Dahua Lin, MMLab
Tsinghua University
2020 - 2024
B.Sc. & B.Eng. Mathematics and Physics + Software Engineering

News

  • HoST has been selected as RSS 2025 Best System Paper Finalist , June 2025.
  • HOMIE has been accepted by RSS 2025 , April 2025.
  • BeamDojo and HoST have been accepted by RSS 2025 , April 2025.
  • RoboDuet has been accepted by RA-L , February 2025.
  • Latest version of GRUtopia has been released , February 2025.
  • Our Paper Difftactile has been awarded as RSS 2024 Noosphere Workshop Best Paper , July 2024.

Recent Publications

* shows equal contribution
Opening the Sim-to-Real Door for Humanoid Pixel-to-Action Policy Transfer, 2025, In submission
Haoru Xue* , Tairan He* , Zi Wang* , Qingwei Ben , Wenli Xiao , Zhengyi Luo , Xingye Da , Fernando Castañeda , Guanya Shi , Shankar Sastry , Linxi "Jim" Fan , Yuke Zhu
pdf website
VIRAL: Visual Sim-to-Real at Scale for Humanoid Loco-Manipulation, 2025, In submission
Tairan He* , Zi Wang* , Haoru Xue* , Qingwei Ben* , Zhengyi Luo , Wenli Xiao , Ye Yuan , Xingye Da , Fernando Castañeda , Shankar Sastry , Changliu Liu , Guanya Shi , Linxi Fan , Yuke Zhu
pdf website
Gallant: Voxel Grid-based Humanoid Locomotion and Local-navigation across 3D Constrained Terrains, 2025, In submission
Qingwei Ben* , Botian Xu* , Kailin Li* , Feiyu Jia , Wentao Zhang , Jingping Wang , Jingbo Wang , Dahua Lin , Jiangmiao Pang
pdf website
SONIC: Supersizing Motion Tracking for Natural Humanoid Whole-Body Control, 2025, In submission
Zhengyi Luo* , Ye Yuan* , Tingwu Wang* , Chenran Li* , Sirui Chen+ , Fernando Castañeda+ , Zi-Ang Cao+ , Jiefeng Li+ , David Minor+ , Qingwei Ben+ , Xingye Da+ , Runyu Ding , Cyrus Hogg , Lina Song , Edy Lim , Eugene Jeong , Tairan He , Haoru Xue , Wenli Xiao , Zi Wang , Simon Yuen , Jan Kautz , Yan Chang , Umar Iqbal , Linxi "Jim" Fan‡ , Yuke Zhu‡
pdf website
TeleOpBench: A Simulator-Centric Benchmark for Dual-Arm Dexterous Teleoperation, 2025, In submission
Hangyu Li* , Qin Zhao * , Haoran Xu , Xinyu Jiang , Qingwei Ben , Feiyu Jia , Haoyu Zhao , Liang Xu , Jia Zeng , Hanqing Wang , Bo Dai , Junting Dong , Jiangmiao Pang
code pdf video website
SMAP: Self-supervised Motion Adaptation for Physically Plausible Humanoid Whole-body Control, 2025, In submission
Haoyu Zhao* , Sixu Lin* , Qingwei Ben , Minyue Dai , Hao Fei , Jingbo Wang , Hua Zou , Junting Dong
code pdf website
HOMIE: Humanoid Loco-Manipulation with Isomorphic Exoskeleton Cockpit, 2025, RSS 2025
Qingwei Ben* , Feiyu Jia* , Jia Zeng , Junting Dong , Dahua Lin , Jiangmiao Pang
code pdf video website
BeamDojo: Learning Agile Humanoid Locomotion on Sparse Footholds , 2025, RSS 2025
Huayi Wang , Zirui Wang , Junli Ren , Qingwei Ben , Tao Huang , Weinan Zhang , Jiangmiao Pang
pdf video website
Learning Humanoid Standing-up Control across Diverse Postures, 2025, RSS 2025 Best System Paper Finalist
Tao Huang , Junli Ren , Huayi Wang , Zirui Wang , Qingwei Ben , Muning Wen , Xiao Chen , Jianan Li , Jiangmiao Pang
code pdf video website
VB-Com: Learning Vision-Blind Composite Humanoid Locomotion Against Deficient Perception , 2025, In submission
Junli Ren , Tao Huang , Huayi Wang , Zirui Wang , Qingwei Ben , Jiangmiao Pang , Ping Luo
pdf video website
GRUtopia: Dream General Robots in a City at Scale, 2024, In submission
Hanqing Wang* , Jiahe Chen* , Wensi Huang* , Qingwei Ben* , Tai Wang* , Boyu Mi* , Tao Huang , Siheng Zhao , Yilun Chen , Sizhe Yang , Peizhou Cao , Wenye Yu , Zichao Ye , Jialun Li , Junfeng Long , Zirui Wang , Huiling Wang , Ying Zhao , Zhongying Tu , Yu Qiao , Dahua Lin , Jiangmiao Pang
code pdf video
RoboDuet: A Framework Affording Mobile-Manipulation and Cross-Embodiment, 2024, RA-L, ICRA 2024 Mobile-Manipulation Workshop
Guoping Pan* , Qingwei Ben* , Zhecheng Yuan , Guangqi Jiang , Yandong Ji , Shoujie Li , Jiangmiao Pang , Houde Liu , Huazhe Xu
code pdf video website
DiffTactile: A Physics-based Differentiable Tactile Simulator for Contact-rich Robotic Manipulation, 2024, ICLR 2024; RSS 2024 Noosphere Workshop Best Paper
Zilin Si* , Gu Zhang* , Qingwei Ben* , Branden Romero , Zhou Xian , Chao Liu , Chuang Gan
code pdf video website