Chenhui Zuo (左晨辉)

I am a PhD candidate at the School of Aerospace Engineering, Tsinghua University, advised by Prof. Yanan Sui. I received my B.Eng. from the Department of Automation, Tsinghua University. I develop human musculoskeletal models in physical simulation, alongside advanced learning frameworks for the motion control of high-dimensional embodied systems. Operating at the intersection of musculoskeletal simulation, reinforcement learning, and human-centered robotics, my work aims to advance the understanding of human movement and embodied intelligence.

GitHub / Google Scholar / CV / zuoch22@mails.tsinghua.edu.cn

News

2026 Our MS-Human-700 model was added to the MuJoCo Menagerie Github repository.
2025 Team ranked 3rd in the Table Tennis track at MyoChallenge 2025.
2024 Team received the Best Student Team Award and ranked 2nd in the manipulation track at MyoChallenge 2024.

Publications and Manuscripts

Publications

Embodied Human Simulation for Quantitative Design and Analysis of Interactive Robotics

Chenhui Zuo, Jinhao Xu, Michael Qian Vergnolle, Yanan Sui

International Conference on Intelligent Robots and Systems (IROS), 2026

Paper

Interactive robotics simulation overview

Scalable Exploration for High-Dimensional Continuous Control via Value-Guided Flow

Yunyue Wei, Chenhui Zuo, Yanan Sui

International Conference on Learning Representations (ICLR), 2026

Project Page

MyoChallenge 2024: A New Benchmark for Physiological Dexterity and Agility in Bionic Humans

Cheryl Wang*, Chun Kwang Tan*, Balint Hodossy*, Eric Lyu*, Pierre Schumacher*, James Heald, Kai Biegun, Samo Hromadka, Maneesh Sahani, Gunwoo Park, Beomsoo Shin, Jonghyun Park, Seungbum Koo, Chenhui Zuo, Chengtian Ma, Yanan Sui, Nicklas Hansen, Stone Tao, Yuan Gao, Hao Su, Seungmoon Song, Letizia Gionfrida, Massimo Sartori, Guillaume Durandau, Vikash Kumar, Vittorio Caggiano

Conference on Neural Information Processing Systems (NeurIPS), Datasets and Benchmarks Track, 2025

Paper

Bipedal Balance Control with Whole-body Musculoskeletal Standing and Falling Simulations

Chengtian Ma, Yunyue Wei, Chenhui Zuo, Chen Zhang, Yanan Sui

Conference on Robot Learning (CoRL), 2025

Project Page

Voluntary walking related joint movement training with targeted epidural electrical stimulation enabled neural recovery for individuals with spinal cord injury

Xi Zhang, Yang Lu, Boyang Zhang, Hongda Li, Qingyu Yao, Junhong Lim, Yunyue Wei, Kaibo He, Chenhui Zuo, Yanan Sui, Bozhi Ma, Mingshan Ran, Yu Pan, Guihuai Wang, Luming Li

Science Bulletin 69 (2024)

Paper

Dynamical Synergistic Representation for Efficient Learning and Control in Overactuated Embodied Systems

Kaibo He, Chenhui Zuo, Chengtian Ma, Yanan Sui

International Conference on Machine Learning (ICML), 2024

Project Page

Self Model for Embodied Intelligence: Modeling Full-Body Human Musculoskeletal System and Locomotion Control with Hierarchical Low-Dimensional Representation

Chenhui Zuo*, Kaibo He*, Jing Shao, Yanan Sui

International Conference on Robotics and Automation (ICRA), 2024

Project Page / MuJoCo Menagerie

Manuscripts

Scaling Whole-Body Human Musculoskeletal Behavior Emulation for Specificity and Diversity

Yunyue Wei*, Chenhui Zuo*, Shanning Zhuang, Haixin Gong, Yaming Liu, Yanan Sui

Project Page

Human Sensory-Musculoskeletal Modeling and Control of Whole-Body Movements

Chenhui Zuo*, Guohao Lin*, Chen Zhang*, Shanning Zhuang, Yanan Sui

Paper

Sensory-musculoskeletal model visualization

Projects

NeurIPS MyoChallenge 2025: Towards Human Athletic Intelligence

Team ranked 3rd in the Table Tennis track at the NeurIPS 2025 Competition Track.

MyoChallenge 2025

NeurIPS MyoChallenge 2024: Physiological Dexterity and Agility in Bionic Humans

Team received the Best Student Team Award and ranked 2nd in the Manipulation track at the NeurIPS 2024 Competition Track.

MyoChallenge 2024

Teaching

Teaching Assistant, Human Factors and Artificial Intelligence, Tsinghua University, 2023-2025.

Honors and Awards

Second-Class Scholarship of Graduate Students, Tsinghua University, 2023-2025.
Technological Innovation Scholarship, Tsinghua University, 2020.
First place in the 21st Electronic Design Competition, Tsinghua University, 2019.