Ziheng Zhang

Dexmal

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Distributed Systems & Hardware (1)Robotics & Embodied AI (1)Training Efficiency & Optimization (1)

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Yufei Jia (1)Zhanxiang Cao (1)Mingrui Yu (1)Heng Zhang (1)

Papers (1)

May 28, 2026

Dexmal1w ago·also Tsinghua AI, D-Robotics *Core contributors., DISCOVER Robotics, DISCOVER Robotics † Advising +8

A Heterogeneous Architecture for Robot RL Beyond GPU-Dominant Paradigms

Robot RL training can be dramatically sped up (3-10x) by decoupling CPU-based simulation from GPU-based learning, challenging the assumption that GPU-resident physics is essential for efficiency.

Yufei Jia, Zhanxiang Cao, Mingrui Yu +47

Distributed Systems & Hardware Robotics & Embodied AI Training Efficiency & Optimization

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Ziheng Zhang

Publication activitypapers/week, last 8 weeks

Research focus

Frequent co-authors

Papers (1)