Chang Yu

Chang Yu | 余畅

I am a Computer Science Ph.D. candidate at Artificial Intelligence & Visual Computing Lab, UCLA Department of Mathematics, co-advised by Prof. Chenfanfu Jiang and Prof. Demetri Terzopoulos. My research has been generously supported by a Meshy Fellowship.

I graduated with honors from the University of Electronic Science and Technology of China (UESTC), and I was a Research & Development intern at Taichi Graphics (Now Meshy), where I was fortunate enough to be supervised by Dr. Tiantian Liu.

Resume | Github | LinkedIn | Google Scholar | Email: [email protected]

Research

My research focuses on physical AI infrastructure and robotics learning: massively parallel, high-fidelity simulation systems that turn physics-grounded world generation, robot interaction, and real-world feedback into scalable manipulation policies.

^* Equal contributions; ^† Project lead.

	TacCoRL: Integrating Tactile Feedback into VLA via Simulation Siyu Ma, Yuqi Liang, Chang Yu^†, Yunuo Chen, Hao Su, Yixin Zhu, Yin Yang, Chenfanfu Jiang. arXiv* arXiv \| project page
	Sparse2Act: Learning Action-Aligned Sparse 3D Representations for Cross-Domain Robot Manipulation Yu Guo, Chang Yu*, Siyu Ma, Yunuo Chen, Yin Yang, Ying Nian Wu, Chenfanfu Jiang. arXiv arXiv \| project page
	MemoryVAM: Integrating Memory into Video Action Model for Robot Manipulation Yuxin Jiang, Chang Yu, Yunuo Chen, Xiang Feng, Yin Yang, Nishank Gite, Chenfanfu Jiang. arXiv**
	SAP Warp: GPU-accelerated Semi-Analytic Primal Solver for Compliant Frictional Contact Open-Source Project Yunuo Chen, Xiang Feng, Chang Yu, Yin Yang, Joseph Masterjohn, Chenfanfu Jiang. 2026 project page \| code
	MPM Lite: Linear Kernels and Integration without Particles Xiang Feng, Yunuo Chen, Chang Yu, Hao Su, Demetri Terzopoulos, Yin Yang, Joe Masterjohn, Alejandro Castro, Chenfanfu Jiang. ACM Transactions On Graphics (SIGGRAPH), 2026 Technical Paper Trailer* arXiv \| project page \| code \| video
	Right-Side-Out: Learning Zero-Shot Sim-to-Real Garment Reversal Chang Yu, Siyu Ma, Wenxin Du, Zeshun Zong, Han Xue, Wendi Chen, Cewu Lu, Yin Yang, Xuchen Han, Joseph Masterjohn, Alejandro Castro, Chenfanfu Jiang IEEE International Conference on Robotics and Automation (ICRA), 2026 arXiv \| project page \| video
	Taccel: Scaling Up Vision-based Tactile Robotics via High-performance GPU Simulation Yuyang Li, Wenxin Du, Chang Yu, Puhao Li, Zihang Zhao, Tengyu Liu, Chenfanfu Jiang, Yixin Zhu, Siyuan Huang Neural Information Processing Systems (NeurIPS), 2025 Spotlight* arXiv \| project page \| code \| video
	Physics-Based Simulation Minchen Li, Chenfanfu Jiang, Zhaofeng Luo, Wenxin Du, Chang Yu, Žiga Kovačič, Tianyi Xie Open-Source Online Book, 2025 book \| code
	GRIP: A General Robotic Incremental Potential Contact Simulation Dataset for Unified Deformable-Rigid Coupled Grasping Siyu Ma, Wenxin Du, Chang Yu, Ying Jiang, Zeshun Zong, Tianyi Xie, Yunuo Chen, Yin Yang, Xuchen Han, Chenfanfu Jiang IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2025 arXiv \| project page \| video
	A Convex Formulation of Material Points and Rigid Bodies with GPU-Accelerated Async-Coupling for Interactive Simulation Chang Yu, Wenxin Du, Zeshun Zong, Alejandro Castro, Chenfanfu Jiang, Xuchen Han IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2025 Best Poster Finalist @ IROS 2025 Workshop ROMADO arXiv \| code \| video
	Dress-1-to-3: Single Image to Simulation-Ready 3D Outfit with Diffusion Prior and Differentiable Physics Xuan Li, Chang Yu*, Wenxin Du, Ying Jiang, Tianyi Xie, Yunuo Chen, Yin Yang, Chenfanfu Jiang ACM Transactions On Graphics (SIGGRAPH)*, 2025 arXiv \| project page
	ARM: Appearance Reconstruction Model for Relightable 3D Generation Xiang Feng, Chang Yu, Zoubin Bi, Yintong Shang, Feng Gao, Hongzhi Wu, Kun Zhou, Chenfanfu Jiang, Yin Yang. Conference on Computer Vision and Pattern Recognition (CVPR), 2025 Highlight* arXiv \| project page
	Gaussian Splashing: Unified Particles for Versatile Motion Synthesis and Rendering Yutao Feng, Xiang Feng, Yintong Shang, Ying Jiang, Chang Yu, Zeshun Zong, Tianjia Shao, Hongzhi Wu, Kun Zhou, Chenfanfu Jiang, Yin Yang. Conference on Computer Vision and Pattern Recognition (CVPR), 2025 arXiv \| project page
	Embedded IPC: Fast and Intersection-free Simulation in Reduced Subspace for Robot Manipulation Wenxin Du, Chang Yu, Siyu Ma, Ying Jiang, Zeshun Zong, Ying Yang, Joseph Masterjohn, Alejandro Castro, Xuchen Han, Chenfanfu Jiang. IEEE International Conference on Robotics and Automation (ICRA), 2025 arXiv \| project page \| video
	XPBI: Position-Based Dynamics with Smoothing Kernels Handles Continuum Inelasticity *Chang Yu,** Xuan Li, Lei Lan, Ying Yang, Chenfanfu Jiang. SIGGRAPH Asia*, 2024 arXiv \| video
	VR-GS: A Physical Dynamics-Aware Interactive Gaussian Splatting System in Virtual Reality Ying Jiang, Chang Yu, Tianyi Xie, Xuan Li, Yutao Feng, Huamin Wang, Minchen Li, Henry Lau, Feng Gao, Yin Yang, Chenfanfu Jiang SIGGRAPH, 2024 arXiv \| project page \| video
	MeshTaichi: A Compiler for Efficient Mesh-based Operations Chang Yu, Yi Xu, Ye Kuang, Yuanming Hu, Tiantian Liu ACM Transactions On Graphics (SIGGRAPH Asia), 2022 arXiv \| project page \| video
	Real-time Physics Engine Based on MPM & PBD Yilong Wu, Chang Yu International Conference on Virtual Reality and Visualization (ICVRV), 2020 project page

Experience

	NVIDIA Seattle Robotics Lab 2026.6 - Present Robotics Research Intern Mentor: Dr. Jie Xu
	University of California, Los Angeles 2023.9 - Present Graduate Student Researcher at AIVC Lab Advisor: Prof. Chenfanfu Jiang, Prof. Demetri Terzopoulos
	PKU CoRe Lab 2025.10 - 2025.12 Visiting Student at PKU CoRe Lab Advisor: Prof. Yixin Zhu
	Toyota Research Institute (TRI) 2024.6 - 2025.4 Research & Development Intern Mentor: Dr. Xuchen Han
	Taichi Graphics (Now Meshy AI) 2021.3 - 2023.7 Research & Development Intern Mentor: Dr. Tiantian Liu

Design and source code from Jon Barron.
Last updated: Jun 14, 2026