Yujie Zang

I am currently a Master’s student in Robotics at the National University of Singapore (NUS), supervised by Prof. Shuicheng Yan. Prior to that, I received my B.Eng. in Industrial Design (Mechanical) from Shanghai Jiao Tong University (SJTU), where I worked with Prof. Xinyang Tan and graduated as an Outstanding Graduate in 2026.

My research focuses on real-world robotic manipulation, with the goal of building superhuman physical intelligence from human priors. I am particularly interested in force and tactile sensing, world modeling, and policy post-training for precise and adaptive robotic skills.

Publications

(*: corresponding author; †: equal contribution)

TacForeSight: Force-Guided Tactile World Model for Contact-Rich Manipulation

Yujie Zang^†, Yuhang Zheng^†, Xian Nie^†, Yupeng Zheng, Shuai Tian, Songen Gu, Chen Gao, Zining Wang, Shuicheng Yan^*, and Wenchao Ding^*.
IEEE Robotics and Automation Letters (RA-L), 2026 · Under Review

Webpage Paper Code

Multimodal Palpation Sensing for Precise Prediction of Breast Lump Hardness and Size

Yujie Zang, Shuhong Xiao, Peng Yang, Ying Yang, Zixuan Lu, Ruyue Sun, Chongpeng Wei, Shuyue Zheng, Chen Wang, Xinyang Tan^*, and Hongwei Zhang^*.
IEEE International Conference on Acoustics, Speech and Signal Processing (ICASSP), 2026 · Accepted

Paper Code Dataset

Re-DirectExo: A Preliminary Study of Illusion-Driven Hand Rehabilitation Exoskeleton

Yujie Zang, Guiqin Lu, Zhaoyi Chen, Zhen Han, Zihang Ma, Xinyang Tan^*, and Shi Qiu^*.
International Conference on Human-Engaged Computing (ICHEC), ACM EI, 2025 · Accepted

Paper

Generating Activity-Enriched Abnormal ECGs via Adversarial Network

Liuqing Chen, Shuhong Xiao, Yujie Zang, Jiner Wang, Shanhai Hu, Lin Zhang, Qing Li, and Danyang Zhang.
IEEE Journal of Biomedical and Health Informatics (JBHI), 2025 · Accepted

Paper Code

OmniVTA: Visuo-Tactile World Modeling for Contact-Rich Robot Manipulation

Yuhang Zheng, Songen Gu, Weize Li, Yupeng Zheng, Yujie Zang, Shuai Tian, Xiang Li, Ruihai Wu, Ce Hao, Chen Gao, Si Liu, Haoran Li, Yilun Chen, Shuicheng Yan^*, and Wenchao Ding^*.
IEEE Transactions on Robotics (T-RO), 2026 · Under Review

Webpage Paper

VT-WAM: Visual-Tactile World Action Model for Contact-Rich Manipulation

Shuai Tian, Yupeng Zheng, Yuhang Zheng, Songen Gu, Yujie Zang, Yuxing Qin, Weize Li, Haoran Li, Wenchao Ding^*, and Dongbin Zhao^*.
IEEE Robotics and Automation Letters (RA-L), 2026 · Under Review

Webpage Paper