Gao Jiawei

Hi!! I am a final-year undergraduate student at Tsinghua University. I was fortunate to collaborate with Prof. Gao Huang, Dr. Jiangmiao Pang and Prof. Guanya Shi throughout my undergraduate studies.

I want to fundamentally understand how human intelligence works and how we can build machines that learn and think like humans. To this end, I aim to work on general-purpose decision-making agents that can interact, learn, and adapt in our complex physical world.

Beyond my research interests, I am also passionate about history, sociology, and philosophy. I've been playing the piano for about ten years and am a big fan of Western classical music, with Beethoven and Mahler being my favorite. I also enjoy traveling and photography.

I am applying for a PhD position in 2026 Fall. Please drop me an email if you are interested in my research or just want to chat!

My Email: winstongu20[AT]gmail[DOT]com

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Gao Jiawei 「髙嘉偉」

Publications

	ASAP: Aligning Simulation and Real-World Physics for Learning Agile Humanoid Whole-Body Skills Tairan He, Jiawei Gao, Wenli Xiao, Yuanhang Zhang, Zi Wang, Jiashun Wang, Zhengyi Luo, Guanqi He, Nikhil Sobanbab, Chaoyi Pan, Zeji Yi, Guannan Qu†, Kris Kitani†, Jessica Hodgins†, Linxi "Jim" Fan†, Yuke Zhu†, Changliu Liu†, Guanya Shi† 2025 Robotics: Science and Systems, RSS 2025. [Project Page] [arXiv] [Code] [BibTeX] TLDR: A method enabling agile whole-body motion for humanoid robots.
	CooHOI: Learning Cooperative Human-Object Interaction with Manipulated Object Dynamics Jiawei Gao, Ziqin Wang, Zeqi Xiao, Jingbo Wang, Tai Wang, Jinkun Cao, Xiaolin Hu†, Si Liu†, Jifeng Dai†, Jiangmiao Pang† 2024 Conference on Neural Information Processing Systems, NeurIPS 2024 Spotlight. [Project Page] [arXiv] [Code] [BibTeX] TLDR: A framework for cooperative object transportation tasks involving multiple humanoid characters. Methods inspired by how humans learn cooperation.
	Hybrid Internal Model: Learning Agile Legged Locomotion with Simulated Robot Response Junfeng Long, Zirui Wang, Quanyi Li, Jiawei Gao, Liu Cao, Jiangmiao Pang† 2024 International Conference on Learning Representations, ICLR 2024. [Project Page] [arXiv] [Code] [BibTeX] TLDR: We enable quadruped robots to adapt to various terrains by learning to estimate environmental disturbances both explicitly and implicitly.
	Train Once, Get a Family: State-Adaptive Balances for Offline-to-Online Reinforcement Learning Shenzhi Wang, Qisen Yang, Jiawei Gao, Matthieu Lin, Hao Chen, Liwei Wu, Ning Jia, Shiji Song†, Gao Huang† 2023 Conference on Neural Information Processing Systems, NeurIPS 2023 Spotlight. [Project Page] [arXiv] [Code] [BibTeX] TLDR: A framwork for offline-to-online reinforcement learning algorithms that determines state-adaptive improvement-constraint balances.

Projects

HumanoidVerse: A Multi-Simulator Framework for Humanoid Robot Sim-to-Real Learning.

My role: Team-lead and Core Contributor.

[Code]

HumanoidVerse supports multiple simulators and tasks for humanoid robot sim-to-real learning. A key design logic is the separation and modularization of simulators, tasks, and algorithms, allowing for conviniently switching between simulators and tasks, and develop new ones with minimal efforts.

OpenDA Project: An Open-Source Platform for Coursework and Experiences for Tsinghua University Undergrads.

My role: Founder, Team-lead and Core Contributor.

[Project Page]

We shared our notes, experiences, insights, and advice from the courses we took during our undergraduate studies. We hope this can help bridge the "information gap" in undergraduate studies and promote greater educational equity.

Miscellaneous

In high school, I competed in the Physics Olympiad because I've always loved how physics helps us understand the world in a deeper and more fundamental way. I'm also really interested in cognitive science and psychology--they're great for learning more about who we are, as humans, and I am so curious about how our mind learns so much from so little.

I believe that curiosity, resilience, and the unwavering pursuit of liberty are among the most precious qualities of humanity. I strongly favor the quotes by Max Weber: "Man would not have attained the possible unless time and again he had reached out for the impossible. But to do that a man must be a leader, and not only a leader but a hero as well, in a very sober sense of the word."

Updated at May, 2025.
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