Yiyu Wang

I'm an undergraduate student at Shanghai Jiao Tong University (B.S. in Mechanical Engineering) and at the University of Michigan, Ann Arbor (B.S. in Computer Science, second bachelor's). I work in the Robotics Autonomy and Planning Lab with Prof. Zhongqiang (Richard) Ren, in the Scalable Spatial Intelligence Lab with Prof. Yulun Tian, and in the Advanced Agent-Robotics Technology Lab at Carnegie Mellon University with Prof. Katia Sycara.

I work on planning and search for multi-robot systems — heterogeneous routing, task allocation, and autonomous exploration — and I build the solvers and the robots that run them. More recently I have been working on neuro-symbolic learning and coding-agent systems that close the loop between structured reasoning and executable code.

I am actively looking for research internships, and for a Ph.D. position in robotics, computer science, or related fields starting in Fall 2027.

Email  /  Github  /  LinkedIn  /  WeChat

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News

[Jun 2026] Our paper on min-max constrained heterogeneous multi-robot routing was accepted to IROS 2026, and the solver is released on PyPI as PyRCH.

[May 2026] I joined the Advanced Agent-Robotics Technology Lab at Carnegie Mellon University, advised by Prof. Katia Sycara.

[Oct 2025] The HEHA preprint is on arXiv.

[Sep 2025] Our paper HEHA was accepted to the IEEE International Symposium on Multi-Robot and Multi-Agent Systems (MRS 2025) as a poster paper.

[Aug 2025] I started my second bachelor's in Computer Science at the University of Michigan and joined the Scalable Spatial Intelligence Lab.

[Aug 2024] I joined the Robotics Autonomy and Planning Lab, advised by Prof. Zhongqiang (Richard) Ren.

Research

I am interested in multi-agent and robot systems, heuristic search, task and motion planning, and robot learning. Most of my work asks how a team of physically different robots should divide up and order the work in front of them, and how to compute those plans fast enough to run on real hardware. Papers where I am a (co-)first author are highlighted.

min-max heterogeneous routing Algorithms and Solvers for Min-Max Constrained Heterogeneous Multi-Robot Routing Problems
Yiyu Wang, Yunxiang Yao, Shizhe Zhao, Zhongqiang Ren
IROS, 2026
paper to be released / package website / solver demo

An anytime focal-search solver for min-max heterogeneous multi-robot routing under capacity, resource, and time-window constraints, implemented in C++ and released as the PyRCH Python package.

HEHA heterogeneous exploration HEHA: Bounded Suboptimal Planning for Constrained Routing and Its Use in Heterogeneous Multi-Robot Exploration of Unknown Environments
Longrui Yang†, Yiyu Wang†, Jingfan Tang†, Yunpeng Lv, Shizhe Zhao, Chao Cao, Zhongqiang Ren
† Equal contribution
MRS Poster Paper, 2025
In submission to T-RO, 2026
paper / demo

Path planning for autonomous exploration of an unknown environment by drones, wheeled, and legged robots with different terrain-traversal capabilities. HEHA splits the problem into global routing, solved by a bounded-suboptimal anytime focal search that minimizes the makespan under traversability constraints, and a heterogeneity-aware local planner that avoids duplicated exploration.

Miscellanea

Software

 PyRCH — a Python package wrapping our C++ anytime focal-search solver for heterogeneous multi-agent routing.
pip install PyRCH
Solver demo

Teaching

 Grader, EECS 498 (Bayesian Machine Learning), University of Michigan.
Teaching Assistant, ME2110J (Introduction to Solid Mechanics), Shanghai Jiao Tong University.

Services

 Delegated reviewer, IEEE Robotics & Automation Letters (RA-L).
Reviewer, IROS 2026.

Thanks to Jon Barron for the website template.