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Adam Wei 
Biography
I am a third year Ph.D. student at MIT advised by Prof. Russ Tedrake. My current research focuses on two main directions: 1) understanding and improving how different data sources can be used in robot imitation learning; and 2) algorithmic improvements for generative modeling in robotics with a focus on learning from out-of-distribution or low-quality data. Prior to MIT, I worked on model-based control for contact-rich systems with Prof. Michael Posa.
I am grateful to be funded by the NSF Graduate Research Fellowship and the NSERC Postgraduate Scholarship (Doctoral).
CV (last updated Nov 2025)
Interests
- Robotics
- Imitation Learning
- Generative Modeling
- Controls
Education
EECS Ph.D. Candidate, 2023-Present
MIT
B.Eng in Electrical Engineering, 2023
University of Toronto
IB Diploma, 2019
Colonel By Secondary School
Selected Publications
Adam Wei, Abhinav Agarwal, Boyuan Chen, Rohan Bosworth, Nicholas Pfaff, Russ Tedrake
(2025).
Empirical Analysis of Sim-and-Real Cotraining Of Diffusion Policies For Planar Pushing from Pixels.
IROS 2025.
Alp Aydinoglu, Adam Wei, Wei-Cheng Huang, Michael Posa
(2024).
Consensus Complementarity Control for Multicontact MPC.
IEEE Transactions on Robotics (IEEE RAS TC Best Paper Award 2024).
Publications
Lexi Foland, Thomas Cohn, Adam Wei, Nicholas Pfaff, Boyuan Chen, Russ Tedrake
(2025).
How Well do Diffusion Policies Learn Kinematic Constraint Manifolds?.
Under Review ICRA 2026, IROS 2025 RODGE Workshop Best Poster Award).
Alp Aydinoglu, Adam Wei, Michael Posa
(2022).
Framework and Software for Real-Time Multi-Contact Model Predictive Control.
RSS Workshop.
Talks
In imitation learning for robotics, cotraining with demonstration data generated both in simulation and on real hardware has emerged as …
Oct 21, 2025 4:45 PM
Hangzhou, China
Adam Wei
In this talk, I present a general and principled framework for training generative models from low-quality or out-of-distribution data. …
Sep 24, 2025 11:00 AM
Cambridge, MA
Adam Wei
