Wen-Han Hsieh (謝文瀚)

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Hi! I’m Wen-Han. I am currently a MS Robotics student at CMU RI advised by Guanya Shi. I spent a wonderful summer this year at Genesis AI as a Research Scientist Intern, advised by Zhenjia Xu.

Previously, I was a visiting student at Berkeley AI Research (BAIR), where I was advised by Trevor Darrell, David M. Chan, Koushil Sreenath and Haozhi Qi. I received my BS in MechE at NTHU.

My research interests center around:

  • Embodied AI
  • Robot Learning
  • Dexterous Manipulation

Outside of research, I love playing basketball 🏀 & singing 🎤.

Selected Publications

(*: Equal contribution. Co-first Author.)

CARD: Contact-Anchored Retargeting for Dexterous Manipulation
Cunxi Dai, Botao He, Francois R Hogan, Wei Pan, Rao Fu, Wen-Han Hsieh, Ruoshi Liu, Jitendra Malik, Guanya Shi, Akash Sharma
arXiv preprint, 2026
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Learning Dexterous Manipulation Skills from Imperfect Simulations
Elvis Hsieh*, Wen-Han Hsieh*, Yen-Jen Wang*, Toru Lin, Jitendra Malik, Koushil Sreenath†, Haozhi Qi†
IEEE International Conference on Robotics and Automation (ICRA), 2026
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Do What? Teaching Vision-Language-Action Models to Reject the Impossible
Wen-Han Hsieh*, Elvis Hsieh*, Dantong Niu, Trevor Darrell, Roei Herzig, David M. Chan
Conference on Empirical Methods in Natural Language Processing (EMNLP), 2025
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LISAt: Language-Instructed Segmentation Assistant for Satellite Imagery
Jerome Quenum*, Wen-Han Hsieh*, Tsung-Han Wu, Ritwik Gupta, Trevor Darrell, David M. Chan
Advanced in Neural Information Processing Systems (NeurIPS) , 2025
pdf code page
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Optimizing TD3 for 7-DOF Robotic Arm Grasping: Overcoming Suboptimality with Exploration-Enhanced Contrastive Learning
Wen-Han Hsieh, Jen-Yuan Chang
International Conference on Knowledge Innovation and Invention (ICKII), 2024
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Journey

  1. Aug 2026 – Present
    Carnegie Mellon University, Robotics Institute
    M.S. in Robotics
  2. Jun 2026 – Aug 2026
    Genesis AI
    Research Scientist Intern
  3. Aug 2024 – May 2025
    UC Berkeley
    Visiting Student
  4. Sep 2021 – May 2024
    National Tsing Hua University
    B.S. in Mechanical Engineering