Bofan Lyu

PhD Student at Nanyang Technological University

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I am a PhD student in the MARS Lab at Nanyang Technological University (NTU), advised by Prof. Jianfei Yang. My research focuses on humanoid loco-manipulation, combining robot learning and whole-body control to enable humanoid robots to move, adapt, and physically interact with the world. My broader goal is to develop reliable and adaptable humanoid systems for complex real-world environments.

  • Humanoid Robotics
  • Loco-Manipulation
  • Whole-Body Control
  • Robot Learning
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Publications

2026

  1. CoRL 2026
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    ADAPT: Analytical Disturbance-Aware Policy Training for Humanoid Locomotion
    Bofan Lyu*, Jindou Jia*, Kuangji Zuo, and 7 more authors
    2026
    arXiv Code Website
  2. arXiv 2026
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    Gaze2Act: Gaze-Conditioned Vision-Language-Action Policies for Interactive Robot Manipulation
    Kuangji Zuo*, Gen Li*, Bofan Lyu, and 9 more authors
    2026
    arXiv Code Website
  3. arXiv 2026
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    RoboForge: Physically Optimized Text-Guided Whole-Body Locomotion for Humanoids
    Xichen Yuan*, Zhe Li*, Bofan Lyu, and 4 more authors
    2026
    arXiv Website
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