Yuhang Song

About

山海亦可平 · Building intelligent agents that can read the world and move through it.

I am a Ph.D. student at the University of Liverpool and National Tsing Hua University, working at the intersection of embodied intelligence, deep learning, and autonomous systems.

My research life moves between airvLab at the Digital Innovation Facility and ELSA Lab at NTHU. I founded TOPSOFT Group in 2016 as an international organization for computer science.

I am interested in agents that can perceive, decide, and act with efficiency in the physical world. The long-term aim is to build robust end-to-end navigation systems that feel less like isolated models and more like reliable companions for real environments.

World Action Model Physical Intelligence Deep Learning Deep Reinforcement Learning Embodied AI Autonomous Systems

News

Apr 1, 2026 Two papers accepted to ICPR 2026 ! :smile:
Jul 14, 2025 Started AMD full-time internship in Shanghai! Focusing on Embodied AI with rocm.
Oct 12, 2023 I serverd as external reviewer at ICLR 2023.
Sep 11, 2023 One paper is accepted to ACML 2023 ! :smile:
Aug 14, 2023 Building Real World Aligned Embodied Autonomous Navigation System! <3
Jun 20, 2023 Started my journey on learning ROS 1 & 2, preparing working on embodied Husky robots.
Jan 18, 2023 I serve as module demonstrator for COM 341 in UoL.
Oct 1, 2022 Learning on RL basics and Efficient Models.
Jul 19, 2022 I got an fully-funded PhD offer from University of LIverpool.
Jun 18, 2022 Received my Bachelor degree from University of Liverpool. :sparkles: :smile:

Projects

VEL: Vision-Grounded Energy Critics

VEL: Vision-Grounded Energy Critics

Vision-grounded energy critics for physically feasible vision-language-action policies. A compact energy head corrects each action of a frozen VLA with one gradient step, with no rollouts or retraining.

DITA Agent

DITA Agent

An novel approach to object navigation in AI2-THOR. Code and resources, visualization are available here.

Real-World Aligned Embodied Navigation

Real-World Aligned Embodied Navigation

An object-goal navigation system that trains a CLIP-guided reinforcement learning agent on HM3D homes in NVIDIA Isaac Sim, with a ROS2 Humble mapping stack shared with the real Husky robot.

Dexhand AR Teleoperation

Dexhand AR Teleoperation

Apple Vision Pro teleoperation of a 7-DoF Rokae AR5 arm and an Inspire dexterous hand, with closed-form redundant IK and servoJ streaming at 8 ms.

Husky Road-Marking Robot

Husky Road-Marking Robot

LiDAR-guided wall following with PID control for autonomous highway line drawing, developed in NVIDIA Isaac Sim and deployed on a real Husky UGV with ROS1.

All projects

Publications

2026

  1. fgvln.png
    Fine-Grained Alignment in Vision-and-Language Navigation through Bayesian Optimization
    Yuhang Song, Mario Gianni, Chenguang Yang, Kunyang Lin, Te-Chuan Chiu, Anh Nguyen, and Chun-Yi Lee
    International Conference on Pattern Recognition, 2026
    ICPR 2026
  2. dca.png
    Dynamic Context Adapters: Efficiently Infusing History into Vision-and-Language Models
    Yuhang Song, Bor-Jiun Lin, Jiaxu Liu, Te-Chuan Chiu, Anh Nguyen, and Chun-Yi Lee
    International Conference on Pattern Recognition, 2026
    ICPR 2026

2025

  1. brl.png
    Toward Linearly Regularizing the Geometric Bottleneck of Linear Generalized Attention
    Jiaxu Liu, Xinping Yi, Xiangyu Yin, Yuhang Song, Gaojie Jin, and Xiaowei Huang
    Transactions on Machine Learning Research, 2025
    TMLR 2025

2024

  1. dita.gif
    Learning to Terminate in Object Navigation
    Yuhang Song, Anh Nguyen, and Chun-Yi Lee
    In Asian Conference on Machine Learning, 2024
    ACML 2024
All publications

Explore the full archive of work and writing.