Pengcheng Wang

2505 Hearst Ave

Berkeley, CA 94720

I am a Ph.D. student in the Mechanical Systems Control Lab at UC Berkeley, advised by Prof. Masayoshi Tomizuka (Member of the National Academy of Engineering). Prior to that, I received dual bachelor’s degrees in Mechanics and Aerospace from Tsinghua University. During my undergraduate studies, I worked with Prof. Shengbo Eben Li.

I worked on Transferable and Scalable Reinforcement Learning for Robotics. Specifically, I care how RL agent can digest the scaled model size/ data/ training, and can be efficiently generalized across different embodiments/ tasks/ dynamics.

Outside of research, I love gaming with large-scale strategy systems such as Stellaris, Civilization VI, and Victoria 3. I’m also passionate about singing and served as one of the tenor leads in the Choir of Tsinghua University. Check out my favorite performance!

Email: wangpc [AT] berkeley.edu

Feel free to contact me for research collaborations or just to chat!

news

Apr 30, 2026	DADP, REAR, and Mind Your Entropy have been accepted to ICML 2026!
Apr 27, 2026	DiscreteRTC just came out, check out this trivial but cute idea!
Jan 25, 2026	MVP has been accepted to ICLR 2026 as Oral! TD-MPC² has been accepted to L4DC 2026!

selected publications

arXiv 2026

DiscreteRTC: Discrete Diffusion Policies are Natural Asynchronous Executors

Pengcheng Wang, Kaiwen Hong, Chensheng Peng, and 4 more authors

arXiv preprint

arXiv Website Bib

@article{wang2026discretertc,
  title = {DiscreteRTC: Discrete Diffusion Policies are Natural Asynchronous Executors},
  author = {Wang, Pengcheng and Hong, Kaiwen and Peng, Chensheng and Driggs-Campbell, Katherine and Tomizuka, Masayoshi and Xu, Chenfeng and Tang, Chen},
  journal = {arXiv preprint},
  year = {2026},
}

ICML 2026

DADP: Domain Adaptive Diffusion Policy

Pengcheng Wang, Qinghang Liu, Haotian Lin, and 4 more authors

ICML 2026

arXiv Website Bib

@article{wang2026dadp,
  title = {DADP: Domain Adaptive Diffusion Policy},
  author = {Wang, Pengcheng and Liu, Qinghang and Lin, Haotian and Li, Yiheng and Zhan, Guojian and Tomizuka, Masayoshi and Wang, Yixiao},
  journal = {ICML 2026},
  year = {2026},
}

ICLR 2025

Residual-mppi: Online policy customization for continuous control

Pengcheng Wang, Chenran Li, Catherine Weaver, and 4 more authors

ICLR 2025

arXiv Website Bib

@article{wang2024residual,
  title = {Residual-mppi: Online policy customization for continuous control},
  author = {Wang, Pengcheng and Li, Chenran and Weaver, Catherine and Kawamoto, Kenta and Tomizuka, Masayoshi and Tang, Chen and Zhan, Wei},
  journal = {ICLR 2025},
  year = {2025},
}

ICRA 2025

Residual Policy Gradient: A Reward View of KL-regularized Objective

Pengcheng Wang, Xinghao Zhu, Yuxin Chen, and 3 more authors

ICRA Safe-VLM Workshop (Spotlight)

Spotlight arXiv Bib

Spotlight Presentation

@article{wang2025residual,
  title = {Residual Policy Gradient: A Reward View of KL-regularized Objective},
  author = {Wang, Pengcheng and Zhu, Xinghao and Chen, Yuxin and Xu, Chenfeng and Tomizuka, Masayoshi and Li, Chenran},
  journal = {ICRA Safe-VLM Workshop (Spotlight)},
  year = {2025},
}

L4DC 2026

TD-M(PC)²: Improving Temporal Difference MPC Through Policy Constraint

Haotian Lin, Pengcheng Wang, Jeff Schneider, and 1 more author

L4DC 2026

arXiv Website Bib

@article{lin2025td,
  title = {TD-M(PC)²: Improving Temporal Difference MPC Through Policy Constraint},
  author = {Lin, Haotian and Wang, Pengcheng and Schneider, Jeff and Shi, Guanya},
  journal = {L4DC 2026},
  year = {2026},
}