Hi, this is Tong Yang

Ph.D in Robotics

life-long student in mathematics, AI, and robotics

  • Embodied Intelligence
  • Robotics with Complex Geometries
  • Mathematics
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Contact

Email: tong.yang@zju.edu.cn

Past emails

Address: Level 11, No.1 Zhongguancun East Rd, Haidian District, Beijing, 100084, P.R. China

About Me

  • Now: Engineer at Zhipu AI; Postdoctoral Researcher at Tsinghua University
  • Robotics: Hands-on robotics experience spanning research and deployment, with a focus on geometric motion planning for complex systems (manipulators, tethered robots, deformable objects). To solve real-world tasks, I flexibly combine learning-based and non-learning-based methods (e.g., optimisation, geometry, and planning) rather than relying on a single paradigm.
  • Mathematics: Systematic training in differential geometry, algebraic topology, real analysis, PDEs, stochastic analysis, and representation theory. Regular attendee of seminars on differential geometry and bundle algebra.
  • Knowledge Engineering: Exploring vision–language–action (VLA) models for robot manipulation, including manipulation under partial perception.

Employment

Zhipu AI (Z.ai) — Project Lead (Jul. 2024 – present)

  • Location: Beijing, China.
  • Leading robotics R&D at Zhipu AI, working on embodied AI systems and real-world deployment. Details are confidential.

Education

Dec. 2024 – present

Tsinghua University, Knowledge Engineering Group — Postdoctoral Researcher

  • Advisor: Prof. Jie Tang.
  • Research on vision–language–action (VLA) models for robot manipulation and related knowledge engineering problems (e.g., long-context learning and multimodal alignment).
Sep. 2018 – Mar. 2024

Zhejiang University, Robotics Laboratory — Ph.D. in Control Science and Engineering

  • Advisor: Prof. Rong Xiong.
  • Mathematics training (Department of Mathematics): differential geometry, algebraic topology, real analysis, PDEs, stochastic analysis, and representation theory.
  • Advanced weekly seminars: differential geometry (Prof. Hongwei Xu, Prof. Entao Zhao) and bundle algebra (Prof. Fang Li).
  • Robotics research: planning and deployment for unmanned ground vehicles; later publications on tethered robots.
Mar. 2023 – Feb. 2024

Visiting Student, Personal Robotics Lab, Imperial College London

  • Advisor: Prof. Yiannis Demiris.
  • Research on deformable garment manipulation.
Jul. 2019 – Sep. 2019

Visiting Student, Robotics Institute, University of Technology Sydney

  • Advisor: A/Prof. Jaime Valls Miro.
  • Built a long-term (7-year) collaboration, leading to multiple first-authored works.
  • Focus: manipulator task-space planning with minimal joint-space discontinuities (e.g., surface tool-path planning and tracking).
Sep. 2014 – Jul. 2018

Bachelor of Engineering, Zhejiang University

  • Advisor: Prof. Rong Xiong.
  • ZJUNlict Robot Soccer Team: led the electronics group (PCBs, FPGA motor drivers, high-voltage shooter); Iran Open champion and 3rd prize at the 2017 World Cup event.
  • Designed and built a VTOL fixed-wing UAV with full automation (vertical takeoff, horizontal flight, vertical landing) under the supervision of A/Prof. Yu Zhang.

Publications

First Author / Corresponding Author Publications

  • Tong Yang, Li Huang, Jaime Valls Miro, Yue Wang, Rong Xiong. “Optimal Non‑Redundant Manipulator Surface Coverage with Rank‑Deficient Manipulability Constraints.” Robotics: Science and Systems (RSS), 2024.
  • Tong Yang, Jaime Valls Miro, Yue Wang, Rong Xiong. “An Improved Maximal Continuity Graph Solver for Non‑Redundant Manipulator Non‑Revisiting Coverage.” IEEE Transactions on Automation Science and Engineering (T‑ASE), 2024.
  • Tong Yang, Li Huang, Yue Wang, Rong Xiong. “Tree‑based Representation of Locally Shortest Paths for 2D k‑Shortest Non‑homotopic Path Planning.” IEEE International Conference on Robotics and Automation (ICRA), 2024.
  • Tong Yang, Jaime Valls Miro, Minh Nguyen, Yue Wang, Rong Xiong. “Template‑free Non‑revisiting Uniform Coverage Path Planning on Curved Surfaces.” IEEE/ASME Transactions on Mechatronics (T‑Mech), 2023.
  • Tong Yang, Jiangpin Liu, Yue Wang, Rong Xiong. “Self‑entanglement‑free Tethered Path Planning for Non‑particle Differential‑driven Robot.” IEEE International Conference on Robotics and Automation (ICRA), 2023.
  • Tong Yang, Jaime Valls Miro, Yue Wang, Rong Xiong. “Optimal Task‑space Tracking with Minimum Manipulator Reconfiguration.” IEEE Robotics and Automation Letters (RA‑L), 2022.
  • Tong Yang, Jaime Valls Miro, Yue Wang, Rong Xiong. “Optimal Object Placement for Minimum Discontinuity Non‑revisiting Coverage Task.” IEEE International Conference on Robotics and Automation (ICRA), 2021.
  • Tong Yang, Jaime Valls Miro, Yue Wang, Rong Xiong. “Non‑revisiting Coverage Task with Minimal Discontinuities for Non‑redundant Manipulators.” Robotics: Science and Systems (RSS), 2020.
  • Tong Yang, Jaime Valls Miro, Qianen Lai, Yue Wang, Rong Xiong. “Cellular Decomposition for Non‑repetitive Coverage Task with Minimum Discontinuities.” IEEE/ASME Transactions on Mechatronics (T‑Mech), 2020.

Co‑Authored Publications

  • Maider Larrazabal, Tong Yang, Izaro Goienetxea, Jaime Valls Miro. “Multi‑Depth Uniform Coverage Path Planning for Unmanned Surface Vehicle Surveying.” IEEE International Conference on Robotics and Automation (ICRA), 2026.
  • Li Huang, Tong Yang, Xiang Tian, Rongxin Jiang, Yaowu Chen. “DLODepth: Real‑time Depth Recovery for 3D Reflective Deformable Linear Object.” IEEE Robotics and Automation Letters (RA‑L), 2026.
  • Shenhan Jia, Tong Yang, Zhuqing Zhang, Rong Xiong, Yue Wang, Haojian Lu. “Observability‑based Consistent Visual‑inertial‑ranging Odometry with UWB Network Online Initialization.” Robotic Intelligence and Automation, 2025.
  • Jiangpin Liu, Tong Yang, Wangtao Lu, Yue Wang, Rong Xiong. “Online Trajectory Deformation and Tracking for Self‑Entanglement‑Free Differential‑Driven Robots.” IEEE International Conference on Robotics and Automation (ICRA), 2024.
  • Li Huang, Tong Yang, Rongxin Jiang, Xiang Tian, Fan Zhou, Yaowu Chen. “Deforming Garment Classification with Shallow Temporal Extraction and Tree‑based Fusion.” IEEE Robotics and Automation Letters (RA‑L), 2023.
  • Liang Xie, Hongxiang Yu, Kechun Xu, Tong Yang, Minhang Wang, Haojian Lu, Rong Xiong, Yue Wang. “Learning a Simulation‑based Visual Policy for Real‑world Peg in Unseen Holes.” Review of Scientific Instruments, 2023.
  • Li Huang, Tong Yang, Yu Zhang, Rongxin Jiang, Xiang Tian, Yaowu Chen. “Continuous Perception Garment Classification based on Optical Flow Variation" IEEE International Conference on Robotics and Biomimetics (ROBIO), 2022 (T. J. Tarn Best Paper Finalist).
  • Fuzhang Han, Qunkang Zhang, Bo Fu, Tong Yang, Yue Wang, Rong Xiong. “Multi‑constraint Spatial and Temporal Calibration of Rotating Line Structured Light Vision Sensor.” IEEE Transactions on Instrumentation and Measurement (T‑IM), 2021.
  • Xiaqing Ding, Fuzhang Han, Tong Yang, Yue Wang, Rong Xiong. “Degeneration‑aware Localization with Arbitrary Global‑Local Sensor Fusion.” Sensors, 2021.
  • Jiaheng Zhao, Tiancheng Li, Tong Yang, Liang Zhao, Shoudong Huang. “2D Laser SLAM with Closed Shape Features: Fourier Series Parameterization and Submap Joining.” IEEE Robotics and Automation Letters (RA‑L), 2021.
  • Jingke Wang, Tong Yang, Li Tang, Yue Wang, Rong Xiong. “Learning an Efficient and Safe Policy for Highway Driving Using Supervised Learning and Reinforcement Learning" IEEE International Conference on Real‑time Computing and Robotics (RCAR), 2019 (Best Paper Finalist).

Open‑source

  • Ray* — ROS global path planner for 2D k‑shortest non‑homotopic path planning.
  • nuc_ros — ROS coverage planner for uniform surface coverage on triangle meshes.
  • A platform — ROS2 benchmarking platform for 3D coverage planning algorithms.

Skills

  • C/C++ / ROS / ROS2: primary stack; performance-oriented implementation for robotics systems.
  • Python / PyTorch: proficient for rapid prototyping and learning-based pipelines; prefer C/C++ when performance is critical.
  • Megatron: experience with large-scale distributed training framework for transformer models.
  • MATLAB: extensive use for simulated manipulator experiments.
  • Hardware & tools: SolidWorks, Altium Designer, Verilog, STM32, Raspberry Pi.
  • Used robots: UR5, UR10, Franka, Xarm7, Leap Hand, Allegro Hand; Robotiq gripper, DH gripper, ChangingTEK gripper.
  • Languages: Chinese (native), English (B2), LaTeX, and mathematical writing (ε–δ).

Service

  • Anonymous Reviewer (since 2020): AIM, CASE, ICRA, IROS, NeurIPS, ICLR, RA-L, AURO, T-ASE, T-Mech, T-RO.
  • Referee-in-Chief: The 5th “Zhongkong” Robot Competition of Zhejiang Province (Hangzhou, China), Jun. 2022 – Aug. 2022.
  • Organizer & Referee-in-Chief: The 16th “Zhongkong” Robot Competition of Zhejiang University (Hangzhou, China), Sep. 2021 – Jun. 2022.
  • Organizer & Referee-in-Chief: The 15th “Zhongkong” Robot Competition of Zhejiang University (Hangzhou, China), Sep. 2020 – Jun. 2021.
  • Teaching Assistant: “Wheeled Robots and their Practice”, Zhejiang University (Hangzhou, China), Sep. 2018 – Jun. 2019.

Honors & Awards

  • 2025 — Best Poster Finalist, 5th IROS Workshop on Robotic Manipulation of Deformable Objects (ROMADO), Hangzhou, China.
  • 2024 — Outstanding Doctoral Graduates, Zhejiang University, Hangzhou, China.
  • 2023 — Best Poster Finalist, 5th UK Manipulation Workshop, Oxford, UK.
  • 2020–2022 — Outstanding Graduate Scholarship, Zhejiang University, Hangzhou, China.
  • 2018 — Academic Scholarship (Doctoral Level), Zhejiang University, Hangzhou, China.
  • 2017 — Best Design Award, International Competition of IDC Robocon, Hangzhou, China.
  • 2017 — 3rd Prize, RoboCup Small Size League (World Cup), Nagoya, Japan.
  • 2017 — Champion, RoboCup Small Size League (Iran Open), Tehran, Iran.

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