Jun Lv | 吕峻

Jun Lv

I am a reseach scientist at Noematrix. Prior to that, I pursued my Ph.D at Shanghai Jiao Tong University (SJTU) under the supervision of Prof. Cewu Lu in 2025. I received my Bachelor's degree from Shanghai Jiao Tong University in 2020. My research interests include Robotics, Artificial Intelligence and Computer Vision.

Currently, I continue to collaborate closely with Prof. Cewu Lu’s team while working as a research scientist at Noematrix. We are actively hiring both in the lab and at the company. If you are interested, feel free to reach out!

Email / Twitter(X) / Github / Google Scholar

Publications

SIME: Enhancing Policy Self-Improvement with Modal-Level Exploration
Yang Jin*, Jun Lv*, Wenye Yu, Hongjie Fang, Yong-Lu Li, Cewu Lu (*Equal contribution)
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2025

ArXiv / Code / Project

Knowledge-Driven Imitation Learning: Enabling Generalization Across Diverse Conditions
Zhuochen Miao*, Jun Lv*, Hongjie Fang, Yang Jin, Cewu Lu (*Equal contribution)
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2025

ArXiv / Code / Project

DiffGen: Robot Demonstration Generation via Differentiable Physics Simulation, Differentiable Rendering, and Vision-Language Model
Yang Jin*, Jun Lv*, Shuqiang Jiang†, Cewu Lu† (*Equal contribution, †Equal advising)
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2025

ArXiv

Novel Demonstration Generation with Gaussian Splatting Enables Robust One-Shot Manipulation
Sizhe Yang*, Wenye Yu*, Jia Zeng, Jun Lv, Kerui Ren, Cewu Lu, Dahua Lin, Jiangmiao Pang (*Equal contribution)
Robotics: Science and Systems (RSS), 2025

Paper / ArXiv / Code / Project

AirExo-2: Scaling up Generalizable Robotic Imitation Learning with Low-Cost Exoskeletons
Hongjie Fang*, Chenxi Wang*, Yiming Wang*, Jingjing Chen*, Shangning Xia, Jun Lv, Zihao He, Xiyan Yi, Yunhan Guo, Xinyu Zhan, Lixin Yang, Weiming Wang, Cewu Lu, Hao-Shu Fang (*Equal contribution)
Preprint

ArXiv / Project

Human-Agent Joint Learning for Efficient Robot Manipulation Skill Acquisition
Shengcheng Luo*, QuanQuan Peng*, Jun Lv*, Kaiwen Hong, Katherine Driggs-Campbell, Cewu Lu, Yong-Lu Li (*Equal contribution)
IEEE International Conference on Robotics and Automation (ICRA) 2025
🔥Best Paper Award on Human-Robot Interaction
🔥Best Conference Paper Award Finalist

ArXiv / Project

TieBot: Learning to Knot a Tie from Visual Demonstration through a Real-to-Sim-to-Real Approach
Weikun Peng, Jun Lv, Haonan Chen, Siheng Zhao, Jichen Sun, Cewu Lu, Lin Shao
Conference on Robot Learning (CoRL) 2024 🔊Oral Presentation

Paper / ArXiv / Project

Diff-LfD: Contact-aware Model-based Learning from Visual Demonstration for Robotic Manipulation via Differentiable Physics-based Simulation and Rendering
Xinghao Zhu, Jinghan Ke, Zhixuan Xu, Zhixin Sun, Bizhe Bai, Jun Lv, Qingtao Liu, Yuwei Zeng, Qi Ye, Cewu Lu, Masayoshi Tomizuka, Lin Shao
Conference on Robot Learning (CoRL) 2023 🔊Oral Presentation

Paper / Project

ClothesNet: An Information-Rich 3D Garment Model Repository with Simulated Clothes Environment
Bingyang Zhou, Haoyu Zhou, Tianhai Liang, Qiaojun Yu, Siheng Zhao, Yuwei Zeng, Jun Lv, Siyuan Luo, Qiancai Wang, Xinyuan Yu, Haonan Chen, Cewu Lu, Lin Shao
IEEE/CVF International Conference on Computer Vision (ICCV) 2023

Paper / ArXiv / Project

SAM-RL: Sensing-Aware Model-based Reinforcement Learning via Differentiable Physics-based Simulation and Rendering
Jun Lv, Yunhai Feng, Cheng Zhang, Shuang Zhao, Lin Shao†, Cewu Lu† (†Equal advising)
Robotics: Science and Systems (RSS) 2023
🔥Best System Paper Award Finalist
International Journal of Robotics Research (IJRR)

Paper / ArXiv / Project / Video / Poster

ArtiBoost: Boosting Articulated 3D Hand-Object Pose Estimation via Online Exploration and Synthesis
Lixin Yang*, Kailin Li*, Xinyu Zhan, Jun Lv, Wenqiang Xu, Jiefeng Li, Cewu Lu (*Equal contribution)
IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR) 2022 🔊Oral Presentation

Paper / ArXiv / Code / Video

SAGCI-System: Towards Sample-Efficient, Generalizable, Compositional, and Incremental Robot Learning
Jun Lv*, Qiaojun Yu*, Lin Shao*, Wenhai Liu, Wenqiang Xu, Cewu Lu (*Equal contribution)
IEEE International Conference on Robotics and Automation (ICRA) 2022

Paper / ArXiv / Project / Video / Poster

HandTailor: Towards High-Precision Monocular 3D Hand Recovery
Jun Lv, Wenqiang Xu, Lixin Yang, Sucheng Qian, Chongzhao Mao, Cewu Lu
British Machine Vision Conference (BMVC) 2021

Paper / ArXiv / Code / Project / Video

6-PACK: Category-level 6D Pose Tracker with Anchor-Based Keypoints
Chen Wang, Roberto Martin-Martin, Danfei Xu, Jun Lv, Cewu Lu , Li Fei-Fei, Silvio Savarese, Yuke Zhu
IEEE International Conference on Robotics and Automation (ICRA) 2020

Paper / ArXiv / Code / Project / Video

Professional Services

Conference Reviewer:
- IEEE International Conference on Robotics and Automation (ICRA)
- IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR)
- IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
- IEEE/CVF International Conference on Computer Vision (ICCV)
- European Conference on Computer Vision (ECCV)
- AAAI Conference on Artificial Intelligence (AAAI)
Journal Reviewer:
- International Journal of Robotics Research (IJRR)
- IEEE Robotics and Automation Letters (RA-L)

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