Yiheng Li ζŽδΈ€ζ’

Ph.D. Candidate

Department of Mechanical Engineering

University of California, Berkeley

Berkeley, CA

[email protected]

GitHub Google Scholar
Yiheng Li

Biography

I am a 5th-year (2021-2026) Ph.D. student at MSC Lab in the Department of Mechanical Engineering, University of California at Berkeley. I am fortunate to be advised by Prof. Masayoshi Tomizuka and Prof. David Bogy. Before joining Berkeley, I received my B.S. degree in Mechanics from the University of Science and Technology of China (USTC).

My research interests currently focus on Diffusion Models and Autonomous Driving.

Experience

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Waymo

Research Intern in World Modeling

2025

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Honda Research Institute

Research Intern in Planning

2024

Selected Publications

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Immiscible Diffusion

Improved Immiscible Diffusion: Accelerate Diffusion Training by Reducing Its Miscibility

Yiheng Li, Feng Liang, Dan Kondratyuk, Masayoshi Tomizuka, Kurt Keutzer, Chenfeng Xu

ArXiv 2025
Paper Code
WOMD-Reasoning

WOMD-Reasoning: A Large-Scale Language Dataset for Interaction and Driving Intentions Reasoning

Yiheng Li, Chongjian Ge, Chenran Li, Chenfeng Xu, Masayoshi Tomizuka, Chen Tang, Mingyu Ding, Wei Zhan

ICML 2025
Paper Dataset Code
Immiscible Diffusion

Immiscible Diffusion: Accelerating Diffusion Training with Noise Assignment

Yiheng Li, Heyang Jiang, Akio Kodaira, Masayoshi Tomizuka, Kurt Keutzer, Chenfeng Xu

NeurIPS 2024
Paper Code
PreTraM2

Pre-training on Synthetic Driving Data for Trajectory Prediction

Yiheng Li, Seth Z Zhao, Chenfeng Xu, Chen Tang, Chenran Li, Mingyu Ding, Masayoshi Tomizuka, Wei Zhan

IROS 2024
Paper Code

Honors & Awards

  • J. K. Zee Fellowship, UC Berkeley 2024
  • Graduate Division Block Grant, UC Berkeley 2022-2023
  • Guo Moruo Scholarship, USTC 2019

Academic Service

Conference Reviewer

  • CVPR 2025, 2026
  • ICLR 2025, 2026
  • NeurIPS 2026
  • IROS 2025
  • ICRA 2023, 2024, 2025
  • IEEE TRO