I am a third-year Ph.D. student at the School of Cyber Science and Engineering at Wuhan University, advised by Xiaochuan Shi and Chao Ma. I am also an intern of BeingBeyond founded by Zongqing Lu.

I received my Bachelor’s degree in Cyber Science and Engineering at Wuhan University, advised by Xiaochuan Shi. After two years of master’s studies, I chose to pursue a doctorate through a Successive Postgraduate and Doctoral Program.

My research interest includes reinforcement learning and robotics.

🔥 News

• 2025.11:  🎉 One paper is accepted by IEEE Robotics and Automation Letters (RA-L)
• 2024.09:  🎉 One paper is accepted by Journal of Computer Research and Development (计算机研究与发展)
• 2023.07:  🎉 One paper is accepted by 26th European Conference on Artificial Intelligence (ECAI 2023)

📝 Selected Works

*:equal contribution; †: corresponding author; ‡: project leader

• General Humanoid Whole-Body Control via Pretraining and Fast Adaptation

  Zepeng Wang, Jiangxing Wang, Shiqing Yao, Yu Zhang, Ziluo Ding, Ming Yang, Yuxuan Wang, Haobin Jiang, Chao Ma, Xiaochuan Shi^†, Zongqing Lu^‡

  arXiv preprint, 2026

• CROSSER: Learning Generalizable Humanoid Locomotion Through Inverse Dynamics-Guided Cross-Simulator Adaptation

  Zepeng Wang^*, Xiaochuan Shi^*, Ziluo Ding, Yuxuan Wang, Zhenguo Sun, Chao Ma^†, Zongqing Lu^†

  RA-L, 2025

• RL from Physical Feedback: Aligning Large Motion Models with Humanoid Control

  Junpeng Yue, Zepeng Wang, Yuxuan Wang, Weishuai Zeng, Jiangxing Wang, Xinrun Xu, Yu Zhang, Sipeng Zheng, Ziluo Ding, Zongqing Lu^†

  arXiv preprint, 2025

• CCPO: Conservatively constrained policy optimization using state augmentation

  Zepeng Wang^*, Xiaochuan Shi^*, Chao Ma^†, Libing Wu, Jia Wu

  ECAI, 2023

• 动态决策驱动的工控网络数据要素威胁检测方法

  Zepeng Wang, Chao Ma, Zhuangzhuang Zhang, Libing Wu, Xiaochuan Shi^†

  Journal of Computer Research and Development (计算机研究与发展), 2024

🎖 Honors and Awards

• 2025.07 College Postgraduate Excellence Scholarship
• 2024.10 Second Prize for Graduate Student Outstanding Academic Scholarship
• 2023.09 LeiJun Computer Science Scholarship
• 2022.07 First Prize for College Postgraduate Excellence Scholarship
• 2021.07 Second Prize for College Undergraduate Excellence Scholarship
• 2017.09 Freshman Scholarship of Wuhan University

📖 Educations

• 2023.09 - present, Ph.D. student, School of Cyber Science and Engineering, Wuhan Univeristy, Wuhan.
• 2021.09 - 2023.08, Master (apply for a Successive Postgraduate and Doctoral Program in the second year), School of Cyber Science and Engineering, Wuhan Univeristy, Wuhan.
• 2017.09 - 2021.06, Undergraduate, School of Cyber Science and Engineering, Wuhan Univeristy, Wuhan.

💻 Internships

• 2025.05 - present, BeingBeyond, China.
• 2024.08 - 2025.04, BAAI, China.