About Me

I am a sophomore undergraduate student at IIIS (Yao Class), Tsinghua University, majoring in Computer Science (Artificial Intelligence Track).

Currently, I am a research intern at the MARS Lab at the Institute for Interdisciplinary Information Sciences (IIIS), advised by Prof. Hang Zhao. My research interests lie broadly in Robotics and Embodied AI.

Additionally, I lead the Gait Control Group at TH-MOS (Tsinghua Master of Soccer), working on gait control algorithms for competitive robots.

Outside of research, I am a passionate pianist, a member of the Tsinghua University Clavier Team, and a bass singer in the Yongheng Choir. I also enjoy playing frisbee.

News

  1. 🏆 THMOS won 5th place in 2026 RoboCup (Incheon)!
  2. 🚀 OMG is released! GitHub stars
  3. 🥈 THMOS won 2nd Place in 2026 RoboCup Asia-Pacific (RCAP) Tianjin Invitational Tournament!
  5. 🥉 THMOS won 3rd Place in RoboCup China Open 2026!
  6. 🔬 Joined the MARS Lab at Tsinghua IIIS as a research intern, advised by Prof. Hang Zhao.
  7. 🤖 Joined TH-MOS Robot Soccer Team.

Publications

  1. ArXiv
    OMG: Omni-Modal Motion Generation for Generalist Humanoid Control
    Siqiao Huang*, Kun-Ying Lee*, Dongming Qiao*, Guanqi He*, Zhenyu Wang, Yitang Li, Shaoting Zhu, and Hang Zhao†
    ArXiv Preprint, 2026
    ExWBC @ RSS 2026 Oral, RoboData @ RSS 2026 Spotlight
    arXiv Code Data Project Page Demo
  2. CoRL
    Hiking in the Wild: A Scalable Perceptive Parkour Framework for Humanoids
    Shaoting Zhu*, Ziwen Zhuang*, Mengjie Zhao, Kun-Ying Lee, and Hang Zhao†
    CoRL 2026
    arXiv Code Project Page Demo
  3. ../publications/integral.png
  4. ../publications/expected.png
    Expected Distance and Area Between Random Points on Two Line Segments
    Kun-Ying Lee
    64th National Science Fair, Tainan City, Taiwan, Aug 2024
    PDF

* Equal Contribution, † Corresponding Author

Projects

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Human Resource Machine (Oct. 2025)

Developed a desktop reimagining of the puzzle game “Human Resource Machine” using C++17, SFML 3, and ImGui-SFML.

github.com/KunYing-Lee/HumanResourceMachine
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Logisim Based RISC CPU Implementation (Jun. 2025)
  • Designed a 32-bit single-cycle RISC CPU using Logisim Evolution.
  • Implemented modular components including ALU, Instruction Decoder, Program Counter, and Register File.
  • Supported R-type (Arithmetic/Logical) and I-type (Immediate/Load/Control) instructions.
github.com/KunYing-Lee/Logisim-Based-RISC-CPU-Implementation
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UAV-Based Food-Delivery Routing For Tsinghua University (Aug. 2025)
  • Applied A-star algorithm to generate safe and efficient UAV routes that avoid obstacles and follow constraints
  • Developed a web-based simulation interface that visualizes deliveries in real time
github.com/KunYing-Lee/UAV-Routing-for-Tsinghua
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DualBot Explorer Project Development (Feb. 2023)

Developed a dual-agent conversational AI system employing Langchain, GPT-4o, FAISS and Streamlit. Implemented three interaction modes: Debate Mode, Paper Digest Mode and Peer-review Simulation Mode.

github.com/KunYing-Lee/DualbotExplorer
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EcoTracker Android App Development (Apr. 2024)

Co-invented (responsible for the back-end part) a comprehensive mobile app that helps users track and analyze their carbon footprint across various aspects, from consumption patterns to transportation choices. Powered by AI, the app provides personalized, actionable recommendations to help users adopt more sustainable habits.

github.com/KunYing-Lee/EcoTracker

Experiences

MARS Lab, Tsinghua University

Research Intern: 2025.12 - Present.

Topics: Humanoid Locomotion, Foundation Models, VLAs.

Research Advisor: Prof. Hang Zhao.

THMOS, Tsinghua University

Lead, Gait Control Group: 2025.09 - Present.

Topics: Soccer-Oriented Locomotion, Multi-Robot Coordination Logic.