# Muhan Li

PhD Student in Computer Science, Northwestern University

Advised by [Sam Kriegman](https://skriegman.github.io/)

I build computational systems for creating, representing, learning, and evolving complex embodied structures.

My current research explores scalable physical worlds in which bodies, perception, behavior, and environments can evolve together.

- [Resume](https://www.beyond-infinity.top/cv/Muhan_Li_CV.pdf)
- [GitHub](https://github.com/iffiX)
- [Scholar](https://scholar.google.com/citations?user=SthNToEAAAAJ)
- [Email](mailto:muhanli2022@u.northwestern.edu)
- [Lab](https://www.xenobot.group/)

![Muhan Li](https://www.beyond-infinity.top/agent/shots/home.jpg)

## Research

- [Freeform Bodies, IEEE ICRA 2024](https://www.beyond-infinity.top/research/rl4design/index.html.md): A design policy builds 3D robots with arbitrary internal and external structure directly from low-level material building blocks.
- [Endoskeletal, ICLR 2025 · Spotlight](https://www.beyond-infinity.top/research/endoskeletal/index.html.md): A generative framework evolves 3D bodies with coupled soft tissue and rigid skeletons, a continuous morphology space, and one morphology-conditioned controller shared across bodies.
- [Structured Intelligence, ICML 2026](https://www.beyond-infinity.top/research/eco-moe/index.html.md): Embodiment-conditioned mixtures of control experts co-evolve with latent robot morphologies.
- [Toward Reality, arXiv 2026](https://www.beyond-infinity.top/research/blueprints/index.html.md): A pipeline turns coarse, evolution-friendly virtual body plans into complete blueprints that a builder can follow.
- [Evolved Dexterity, arXiv 2026](https://www.beyond-infinity.top/research/dexterous/index.html.md): Robots evolved from scratch learn to rotate, flip, pick and hold objects and to hang on them; the winners are printed and work in the real world without retraining.
- [RISE System, in progress](https://www.beyond-infinity.top/research/worlds/index.html.md): Each earlier project made the body more complex while the world around it stayed a small fixed floor with a short task and a reset at the end. My current direction expands the world itself. For that I am writing the RISE system, to use countless compute chips to create a virtual world complex enough to support evolution by natural selection.