Lirui Wang (Leroy)

I am a second-year Ph.D. student advised by Prof. Russ Tedrake at the MIT Computer Science and Artificial Intelligence Laboratory (MIT CSAIL). Before coming to MIT, I received my B.S. and M.S. degrees at the University of Washington where I was very fortunate to work with Prof. Dieter Fox and collaborate with NVIDIA.

My research interest lies in the intersection of Robotics and Machine Learning. In particular, I am interested in developing algorithms and systems for robots that can generalize and adapt in the complex and unstructured real-world environments.

Email: liruiw [at] mit (dot) edu [Google Scholar] / [Github] / [Twitter] / [LinkedIn]


    Does Decentralized Learning with non-IID Unlabeled Data Benefit from Self Supervision?
    Lirui Wang, Kaiqing Zhang, Yunzhu Li, Yonglong Tian, and Russ Tedrake
    On Arxiv
    arXiv, Code, Bibtex
    PredictionNet: Real-Time Joint Probabilistic Traffic Prediction for Planning, Control, and Simulation
    Alexey Kamenev, Lirui Wang, Ollin Boer Bohan, Ishwar Kulkarni, Bilal Kartal, Artem Molchanov, Stan Birchfield, David Nistér, Nikolai Smolyanskiy
    International Conference on Robotics and Automation (ICRA), 2022
    arXiv, Bibtex, Video, Blog, Poster
    Hierarchical Policies for Cluttered-Scene Grasping with Latent Plans
    Lirui Wang, Xiangyun Meng, Yu Xiang, Dieter Fox
    IEEE Robotics and Automation Letters (ICRA+RAL), 2022
    arXiv, Bibtex, Video, Poster, Website, Code
    Goal-Auxiliary Actor-Critic for 6D Robotic Grasping with Point Clouds
    Lirui Wang, Yu Xiang, Wei Yang, Arsalan Mousavian, Dieter Fox
    The Conference on Robot Learning (CoRL), 2021
    arXiv, Bibtex, Video, Poster, Website, Code
    Manipulation Trajectory Optimization with Online Grasp Synthesis and Selection
    Lirui Wang, Yu Xiang, Dieter Fox
    Robotics: Science and Systems (R:SS), 2020
    arXiv, Bibtex, Video, Website, Code


  • 2021.9 - present, Massachusetts Institute of Technology
    Ph.D. student in Computer Science
  • 2020.6 - 2021.3, University of Washington
    Master of Science in Computer Science
  • 2016.9 - 2020.6, University of Washington (Summa Cum Laude)
    Bachelor of Science in Computer Science
    Bachelor of Science in Electrical Engineering
    Minor in Mathematics

    Selected Honors

  • MIT EECS Fellowship (Xianhong Wu Fellow), MIT, 2021
  • Bob Herbold Data Science Fellowship, UW, 2021
  • Patricia Lynch and Theodora & Eugene Russell Memorial Scholarship, UW, 2020
  • Lawrence & Lucille Frey Endowed Scholarship, UW, 2019
  • Tau Beta Pi Scholarship, UW, 2018


  • TA, 6.4210 Robotic Manipulation (MIT, Fall 2022)
  • TA, CSE 455 Computer Vision (UW, Winter 2021)
  • TA, CSE 543 Deep Learning (UW, Fall 2020)
  • TA, CSE 473 Artificial Intelligence (UW, Winter 2020)
  • TA, CSE 455 Computer Vision (UW, Fall 2019)


  • Model-based reinforcement learning for behavior prediction
    Nikolai Smolyanskiy, Alexey Kamenev, Lirui Wang, David Nister, Ollin Boer Bohan, Ishwar Kulkarni, Fangkai Yang, Julia Ng, Alperen Degirmenci, Ruchi Bhargava, Rotem Aviv
    US Patent App. 17/453,055, 2022

    Misc Projects

    Pose Tracking
    Server Mover
    Auto Cooperation