UT Austin Robot Perception and Learning Lab

Publications

    For the up-to-date publication list, please visit the Google Scholar page.

    * Equal contribution.  † Equal advising.

    2025

    ASAP: Aligning Simulation and Real-World Physics for Learning Agile Humanoid Whole-Body Skills
    Tairan He*, Jiawei Gao*, Wenli Xiao*, Yuanhang Zhang*, Zi Wang, Jiashun Wang, Zhengyi Luo, Guanqi He, Nikhil Sobanbab, Chaoyi Pan, Zeji Yi, Guannan Qu, Kris Kitani, Jessica Hodgins, Linxi Fan, Yuke Zhu, Changliu Liu, Guanya Shi
    Robotics: Science and Systems (RSS), June 2025
    Paper Project
    Sim-and-Real Co-Training: A Simple Recipe for Vision-Based Robotic Manipulation
    Abhiram Maddukuri*, Zhenyu Jiang*, Lawrence Yunliang Chen*, Soroush Nasiriany*, Yuqi Xie, Yu Fang, Wenqi Huang, Zu Wang, Zhenjia Xu, Nikita Chernyadev, Scott Reed, Ken Goldberg, Ajay Mandlekar†, Linxi Fan†, Yuke Zhu†
    Robotics: Science and Systems (RSS), June 2025
    Paper Project
    HOVER: Versatile Neural Whole-Body Controller for Humanoid Robots
    Tairan He*, Wenli Xiao*, Toru Lin, Zhengyi Luo, Zhenjia Xu, Zhenyu Jiang, Jan Kautz, Changliu Liu, Guanya Shi, Xiaolong Wang, Linxi Fan†, Yuke Zhu†
    IEEE International Conference on Robotics and Automation (ICRA), May 2025
    Paper Project Code
    SPOT: SE(3) Pose Trajectory Diffusion for Object-Centric Manipulation
    Cheng-Chun Hsu, Bowen Wen, Jie Xu, Yashraj Narang, Xiaolong Wang, Yuke Zhu, Joydeep Biswas, Stan Birchfield
    IEEE International Conference on Robotics and Automation (ICRA), May 2025
    Paper Project Video
    DexMimicGen: Automated Data Generation for Bimanual Dexterous Manipulation via Imitation Learning
    Zhenyu Jiang*, Yuqi Xie*, Kevin Lin*, Zhenjia Xu, Weikang Wan, Ajay Mandlekar†, Linxi Fan†, Yuke Zhu†
    IEEE International Conference on Robotics and Automation (ICRA), May 2025
    Paper Project Blog Code
    RT-Affordance: Affordances are Versatile Intermediate Representations for Robot Manipulation
    Soroush Nasiriany, Sean Kirmani, Tianli Ding, Laura Smith, Yuke Zhu, Danny Driess, Dorsa Sadigh, Ted Xiao
    IEEE International Conference on Robotics and Automation (ICRA), May 2025
    Paper Project
    PRESTO: Fast Motion Planning Using Diffusion Models Based on Key-Configuration Environment Representation
    Mingyo Seo*, Yoonyoung Cho*, Yoonchang Sung, Peter Stone, Yuke Zhu†, Beomjoon Kim†
    IEEE International Conference on Robotics and Automation (ICRA), May 2025
    Paper Project Code
    BUMBLE: Unifying Reasoning and Acting with Vision-Language Models for Building-wide Mobile Manipulation
    Rutav Shah, Albert Yu, Yifeng Zhu, Yuke Zhu†, Roberto Martín-Martín†
    IEEE International Conference on Robotics and Automation (ICRA), May 2025
    Paper Project Code
    LongVILA: Scaling Long-Context Visual Language Models for Long Videos
    Fuzhao Xue, Yukang Chen, Dacheng Li, Qinghao Hu, Ligeng Zhu, Xiuyu Li, Yunhao Fang, Haotian Tang, Shang Yang, Zhijian Liu, Ethan He, Hongxu Yin, Pavlo Molchanov, Jan Kautz, Linxi Fan, Yuke Zhu, Yao Lu, Song Han
    International Conference on Learning Representations (ICLR), April 2025
    Paper Project Code
    Human-Level Competitive Pokémon via Scalable Offline Reinforcement Learning with Transformers
    Jake Grigsby, Yuqi Xie*, Justin Sasek*, Steven Zheng*, Yuke Zhu
    Technical report arXiv:2504.04395, April 2025
    Paper Project Code
    GR00T N1: An Open Foundation Model for Generalist Humanoid Robots
    NVIDIA, Johan Bjorck, Fernando Castañeda, Nikita Cherniadev, Xingye Da, Runyu Ding, Linxi 'Jim' Fan, Yu Fang, Dieter Fox, Fengyuan Hu, Spencer Huang, Joel Jang, Zhenyu Jiang, Jan Kautz, Kaushil Kundalia, Lawrence Lao, Zhiqi Li, Zongyu Lin, Kevin Lin, Guilin Liu, Edith Llontop, Loic Magne, Ajay Mandlekar, Avnish Narayan, Soroush Nasiriany, Scott Reed, You Liang Tan, Guanzhi Wang, Zu Wang, Jing Wang, Qi Wang, Jiannan Xiang, Yuqi Xie, Yinzhen Xu, Zhenjia Xu, Seonghyeon Ye, Zhiding Yu, Ao Zhang, Hao Zhang, Yizhou Zhao, Ruijie Zheng, Yuke Zhu
    Technical report arXiv:2503.14734, March 2025
    Paper Project Video Blog Code
    LEGATO: Cross-Embodiment Imitation Using a Grasping Tool
    Mingyo Seo, H. Andy Park, Shenli Yuan, Yuke Zhu†, Luis Sentis†
    IEEE Robotics and Automation Letters (RA-L), March 2025
    Paper Project Code
    Sim-to-Real Reinforcement Learning for Vision-Based Dexterous Manipulation on Humanoids
    Toru Lin, Kartik Sachdev, Linxi Fan, Jitendra Malik, Yuke Zhu
    Technical report arXiv:2502.20396, February 2025
    Paper Project Video
    Humanoid Locomotion and Manipulation: Current Progress and Challenges in Control, Planning, and Learning
    Zhaoyuan Gu, Junheng Li, Wenlan Shen, Wenhao Yu, Zhaoming Xie, Stephen McCrory, Xianyi Cheng, Abdulaziz Shamsah, Robert Griffin, C. Karen Liu, Abderrahmane Kheddar, Xue Bin Peng, Yuke Zhu, Guanya Shi, Quan Nguyen, Gordon Cheng, Huijun Gao†, Ye Zhao†
    Technical report arXiv:2501.02116, January 2025
    Paper

    2024

    AMAGO-2: Breaking the Multi-Task Barrier in Meta-Reinforcement Learning with Transformers
    Jake Grigsby, Justin Sasek, Samyak Parajuli, Daniel Adebi, Amy Zhang, Yuke Zhu
    Conference on Neural Information Processing Systems (NeurIPS), December 2024
    Paper Code
    Harmon: Whole-Body Motion Generation of Humanoid Robots from Language Descriptions
    Zhenyu Jiang*, Yuqi Xie*, Jinhan Li, Ye Yuan, Yifeng Zhu, Yuke Zhu
    Conference on Robot Learning (CoRL), November 2024
    Paper Project
    OKAMI: Teaching Humanoid Robots Manipulation Skills through Single Video Imitation
    Jinhan Li, Yifeng Zhu*, Yuqi Xie*, Zhenyu Jiang*, Mingyo Seo, Georgios Pavlakos, Yuke Zhu
    Conference on Robot Learning (CoRL), November 2024
    Oral Presentation
    Paper Project
    Multi-Task Interactive Robot Fleet Learning with Visual World Models
    Huihan Liu, Yu Zhang, Vaarij Betala, Evan Zhang, James Liu, Crystal Ding, Yuke Zhu
    Conference on Robot Learning (CoRL), November 2024
    Paper Project Code
    Robot Learning on the Job: Human-in-the-Loop Autonomy and Learning During Deployment
    Huihan Liu, Soroush Nasiriany, Lance Zhang, Zhiyao Bao, Yuke Zhu
    International Journal of Robotics Research (IJRR), Oct 2024
    Paper Project Code
    ARDuP: Active Region Video Diffusion for Universal Policies
    Shuaiyi Huang, Mara Levy, Zhenyu Jiang, Anima Anandkumar, Yuke Zhu, Linxi Fan, De-An Huang, Abhinav Shrivastava
    International Conference on Intelligent Robots and Systems (IROS), October 2024
    Paper
    PRIME: Scaffolding Manipulation Tasks with Behavior Primitives for Data-Efficient Imitation Learning
    Tian Gao, Soroush Nasiriany, Huihan Liu, Quantao Yang, Yuke Zhu
    IEEE Robotics and Automation Letters (RA-L), October 2024
    Paper Project Code
    Foundation Models in Robotics: Applications, Challenges, and the Future
    Roya Firoozi, Johnathan Tucker, Stephen Tian, Anirudha Majumdar, Jiankai Sun, Weiyu Liu, Yuke Zhu, Shuran Song, Ashish Kapoor, Karol Hausman, Brian Ichter, Danny Driess, Jiajun Wu, Cewu Lu, Mac Schwager
    International Journal of Robotics Research (IJRR), September 2024
    Paper Code
    PIVOT: Iterative Visual Prompting Elicits Actionable Knowledge for VLMs
    Soroush Nasiriany*, Fei Xia*, Wenhao Yu*, Ted Xiao*, Jacky Liang, Ishita Dasgupta, Annie Xie, Danny Driess, Ayzaan Wahid, Zhuo Xu, Quan Vuong, Tingnan Zhang, Tsang-Wei Edward Lee, Kuang-Huei Lee, Peng Xu, Sean Kirmani, Yuke Zhu, Andy Zeng, Karol Hausman, Nicolas Heess, Chelsea Finn, Sergey Levine, Brian Ichter*
    International Conference on Machine Learning (ICML), July 2024
    Paper Project
    DROID: A Large-Scale In-The-Wild Robot Manipulation Dataset
    DROID Collaboration
    Robotics: Science and Systems (RSS), July 2024
    Paper Project Code
    InterPreT: Interactive Predicate Learning from Language Feedback for Generalizable Task Planning
    Muzhi Han, Yifeng Zhu, Song-Chun Zhu, Ying Nian Wu, Yuke Zhu
    Robotics: Science and Systems (RSS), July 2024
    Paper Project Video Code
    DrEureka: Language Model Guided Sim-To-Real Transfer
    Jason Ma*, William Liang*, Hungju Wang, Sam Wang, Yuke Zhu, Linxi Fan, Osbert Bastani, Dinesh Jayaraman
    Robotics: Science and Systems (RSS), July 2024
    Paper Project Code
    RoboCasa: Large-Scale Simulation of Everyday Tasks for Generalist Robots
    Soroush Nasiriany, Abhiram Maddukuri*, Lance Zhang*, Adeet Parikh, Aaron Lo, Abhishek Joshi, Ajay Mandlekar, Yuke Zhu
    Robotics: Science and Systems (RSS), July 2024
    Paper Project Code
    ORION: Vision-based Manipulation from Single Human Video with Open-World Object Graphs
    Yifeng Zhu, Arisrei Lim, Peter Stone, Yuke Zhu
    Technical report arXiv:2405.20321, May 2024
    Paper Project Video
    Doduo: Dense Visual Correspondence from Unsupervised Semantic-Aware Flow
    Zhenyu Jiang, Hanwen Jiang, Yuke Zhu
    IEEE International Conference on Robotics and Automation (ICRA), May 2024
    Paper Project Code
    Model-Based Runtime Monitoring with Interactive Imitation Learning
    Huihan Liu, Shivin Dass, Roberto Martín-Martín, Yuke Zhu
    IEEE International Conference on Robotics and Automation (ICRA), May 2024
    Paper Project
    Open X-Embodiment: Robotic Learning Datasets and RT-X Models
    Open X-Embodiment Collaboration
    IEEE International Conference on Robotics and Automation (ICRA), May 2024
    Best Conference Paper Award
    Paper Project Code
    LOTUS: Continual Imitation Learning for Robot Manipulation Through Unsupervised Skill Discovery
    Weikang Wan, Yifeng Zhu*, Rutav Shah*, Yuke Zhu
    IEEE International Conference on Robotics and Automation (ICRA), May 2024
    Paper Project
    AMAGO: Scalable In-Context Reinforcement Learning for Adaptive Agents
    Jake Grigsby, Linxi Fan, Yuke Zhu
    International Conference on Learning Representations (ICLR), May 2024
    Spotlight Presentation
    Paper Project Code
    Eureka: Human-Level Reward Design via Coding Large Language Models
    Yecheng Jason Ma, William Liang, Guanzhi Wang, De-An Huang, Osbert Bastani, Dinesh Jayaraman, Yuke Zhu, Linxi Fan†, Anima Anandkumar†
    International Conference on Learning Representations (ICLR), May 2024
    Paper Project Blog Code
    Few-View Object Reconstruction with Unknown Categories and Camera Poses
    Hanwen Jiang, Zhenyu Jiang, Kristen Grauman, Yuke Zhu
    International Conference on 3D Vision (3DV), March 2024
    Oral Presentation
    Paper Project Code
    Granger Causal Interaction Skill Chains
    Caleb Chuck, Kevin Black, Aditya Arjun, Yuke Zhu, Scott Niekum
    Transactions on Machine Learning Research (TMLR), March 2024
    Paper
    Voyager: An Open-Ended Embodied Agent with Large Language Models
    Guanzhi Wang, Yuqi Xie, Yunfan Jiang, Ajay Mandlekar, Chaowei Xiao, Yuke Zhu, Linxi Fan†, Anima Anandkumar†
    Transactions on Machine Learning Research (TMLR), March 2024
    Paper Project Code
    Building Minimal and Reusable Causal State Abstractions for Reinforcement Learning
    Zizhao Wang*, Caroline Wang*, Xuesu Xiao, Yuke Zhu, Peter Stone
    AAAI Conference on Artificial Intelligence (AAAI), February 2024
    Oral Presentation
    Paper

    2023

    Deep Imitation Learning for Humanoid Loco-manipulation through Human Teleoperation
    Mingyo Seo, Steve Han, Kyutae Sim, Seung Hyeon Bang, Carlos Gonzalez, Luis Sentis, Yuke Zhu
    International Conference on Humanoid Robots (Humanoids), December 2023
    Oral Presentation
    Paper Project Code
    LIBERO: Benchmarking Knowledge Transfer in Lifelong Robot Learning
    Bo Liu*, Yifeng Zhu*, Chongkai Gao*, Yihao Feng, Qiang Liu, Yuke Zhu, Peter Stone
    NeurIPS 2023 Datasets and Benchmarks Track, December 2023
    Paper Project Code
    Cross-Episodic Curriculum for Transformer Agents
    Lucy Xiaoyang Shi*, Yunfan Jiang*, Jake Grigsby, Linxi Fan†, Yuke Zhu†
    Conference on Neural Information Processing Systems (NeurIPS), December 2023
    Paper Project Code
    Re-ViLM: Retrieval-Augmented Visual Language Model for Zero and Few-Shot Image Captioning
    Zhuolin Yang, Wei Ping, Zihan Liu, Vijay Korthikanti, Weili Nie, De-An Huang, Linxi Fan, Zhiding Yu, Shiyi Lan, Bo Li, Ming-Yu Liu, Yuke Zhu, Mohammad Shoeybi, Bryan Catanzaro, Chaowei Xiao, Anima Anandkumar
    Conference on Empirical Methods in Natural Language Processing (EMNLP), December 2023
    Paper
    Learning Generalizable Manipulation Policies with Object-Centric 3D Representations
    Yifeng Zhu, Zhenyu Jiang, Peter Stone, Yuke Zhu
    Conference on Robot Learning (CoRL), November 2023
    Paper Project Code
    MimicGen: A Data Generation System for Scalable Robot Learning using Human Demonstrations
    Ajay Mandlekar, Soroush Nasiriany*, Bowen Wen*, Iretiayo Akinola, Yashraj Narang, Linxi Fan, Yuke Zhu, Dieter Fox
    Conference on Robot Learning (CoRL), November 2023
    Paper Project Code
    MUTEX: Learning Unified Policies from Multimodal Task Specifications
    Rutav Shah, Roberto Martín Martín†, Yuke Zhu†
    Conference on Robot Learning (CoRL), November 2023
    Paper Project Code
    MimicPlay: Long-Horizon Imitation Learning by Watching Human Play
    Chen Wang, Linxi Fan, Jiankai Sun, Ruohan Zhang, Li Fei-Fei, Danfei Xu, Yuke Zhu†, Anima Anandkumar†
    Conference on Robot Learning (CoRL), November 2023
    Best Paper Award Finalist
    Paper Project
    Interactive Robot Learning from Verbal Correction
    Huihan Liu, Alice Chen, Yuke Zhu, Adith Swaminathan, Andrey Kolobov, Ching-An Cheng
    CoRL Workshop on Language and Robot Learning (LangRob), November 2023
    Paper Project
    Symbolic State Space Optimization for Long Horizon Mobile Manipulation Planning
    Xiaohan Zhang, Yifeng Zhu, Yan Ding, Yuqian Jiang, Yuke Zhu, Peter Stone, Shiqi Zhang
    International Conference on Intelligent Robots and Systems (IROS), October 2023
    Paper
    ACID: Action-Conditional Implicit Visual Dynamics for Deformable Object Manipulation
    Bokui Shen*, Zhenyu Jiang*, Christopher Choy, Silvio Savarese, Leonidas J. Guibas, Anima Anandkumar, Yuke Zhu
    International Journal of Robotics Research (IJRR), July 2023
    Paper Project Video Code
    VIMA: General Robot Manipulation with Multimodal Prompts
    Yunfan Jiang, Agrim Gupta*, Zichen Zhang*, Guanzhi Wang*, Yongqiang Dou, Yanjun Chen, Li Fei-Fei, Anima Anandkumar, Yuke Zhu†, Linxi Fan†
    International Conference on Machine Learning (ICML), July 2023
    Paper Project Code
    Robot Learning on the Job: Human-in-the-Loop Autonomy and Learning During Deployment
    Huihan Liu, Soroush Nasiriany, Lance Zhang, Zhiyao Bao, Yuke Zhu
    Robotics: Science and Systems (RSS), July 2023
    Best Paper Award Finalist
    Paper Project Code
    Fast Monocular Scene Reconstruction with Global-Sparse Local-Dense Grids
    Wei Dong, Chris Choy, Charles Loop, Or Litany, Yuke Zhu, Anima Anandkumar
    IEEE Conference on Computer Vision and Pattern Recognition (CVPR), June 2023
    Paper
    Ditto in the House: Building Articulated Models of Indoor Scenes through Interactive Perception
    Cheng-Chun Hsu, Zhenyu Jiang, Yuke Zhu
    IEEE International Conference on Robotics and Automation (ICRA), May 2023
    Paper Project Code
    Learning to Walk by Steering: Perceptive Quadrupedal Locomotion in Dynamic Environments
    Mingyo Seo, Ryan Gupta, Yifeng Zhu, Alexy Skoutnev, Luis Sentis, Yuke Zhu
    IEEE International Conference on Robotics and Automation (ICRA), May 2023
    Paper Project Video Code

    2022

    Learning and Retrieval from Prior Data for Skill-based Imitation Learning
    Soroush Nasiriany, Tian Gao, Ajay Mandlekar, Yuke Zhu
    Conference on Robot Learning (CoRL), December 2022
    Paper Project Code
    VIOLA: Imitation Learning for Vision-Based Manipulation with Object Proposal Priors
    Yifeng Zhu, Abhishek Joshi, Peter Stone, Yuke Zhu
    Conference on Robot Learning (CoRL), December 2022
    Paper Project Code
    MineDojo: Building Open-Ended Embodied Agents with Internet-Scale Knowledge
    Linxi Fan, Guanzhi Wang*, Yunfan Jiang*, Ajay Mandlekar, Yuncong Yang, Haoyi Zhu, Andrew Tang, De-An Huang, Yuke Zhu†, Anima Anandkumar†
    NeurIPS 2022 Datasets and Benchmarks Track, November 2022
    Outstanding Paper Award
    Paper Project Code
    Pre-Trained Language Models for Interactive Decision-Making
    Shuang Li, Xavier Puig, Chris Paxton, Yilun Du, Clinton Wang, Linxi Fan, Tao Chen, De-An Huang, Ekin Akyürek, Anima Anandkumar, Jacob Andreas, Igor Mordatch, Antonio Torralba, Yuke Zhu
    Conference on Neural Information Processing Systems (NeurIPS), November 2022
    Oral Presentation
    Paper Project
    Causal Dynamics Learning for Task-Independent State Abstraction
    Zizhao Wang, Xuesu Xiao, Zifan Xu, Yuke Zhu, Peter Stone
    International Conference on Machine Learning (ICML), July 2022
    Long Presentation
    Paper
    ACID: Action-Conditional Implicit Visual Dynamics for Deformable Object Manipulation
    Bokui Shen, Zhenyu Jiang, Christopher Choy, Silvio Savarese, Leonidas J. Guibas, Anima Anandkumar, Yuke Zhu
    Robotics: Science and Systems (RSS), June 2022
    Best Student Paper Award Finalist
    Paper Project Video Code
    COOPERNAUT: End-to-End Driving with Cooperative Perception for Networked Vehicles
    Jiaxun Cui*, Hang Qiu*, Dian Chen, Peter Stone, Yuke Zhu
    IEEE Conference on Computer Vision and Pattern Recognition (CVPR), June 2022
    Paper Project Code
    Ditto: Building Digital Twins of Articulated Objects from Interaction
    Zhenyu Jiang, Cheng-Chun Hsu, Yuke Zhu
    IEEE Conference on Computer Vision and Pattern Recognition (CVPR), June 2022
    Oral Presentation
    Paper Project Video Code
    Bongard-HOI: Benchmarking Few-Shot Visual Reasoning for Human-Object Interactions
    Huaizu Jiang∗ , Xiaojian Ma*, Weili Nie, Zhiding Yu, Yuke Zhu, Anima Anandkumar
    IEEE Conference on Computer Vision and Pattern Recognition (CVPR), June 2022
    Oral Presentation
    Paper Code
    Augmenting Reinforcement Learning with Behavior Primitives for Diverse Manipulation Tasks
    Soroush Nasiriany, Huihan Liu, Yuke Zhu
    IEEE International Conference on Robotics and Automation (ICRA), May 2022
    Outstanding Learning Paper Award
    Paper Project Video Code
    OSCAR: Data-Driven Operational Space Control for Adaptive and Robust Robot Manipulation
    Josiah Wong, Viktor Makoviychuk, Anima Anandkumar, Yuke Zhu
    IEEE International Conference on Robotics and Automation (ICRA), May 2022
    Paper Project Code
    Visually Grounded Task and Motion Planning for Mobile Manipulation
    Xiaohan Zhang, Yifeng Zhu, Yan Ding, Yuke Zhu, Peter Stone, Shiqi Zhang
    IEEE International Conference on Robotics and Automation (ICRA), May 2022
    Paper Project Code
    RelViT: Concept-Guided Vision Transformer for Visual Relational Reasoning
    Xiaojian Ma, Weili Nie, Zhiding Yu, Huaizu Jiang, Chaowei Xiao, Yuke Zhu, Song-Chun Zhu, Anima Anandkumar
    International Conference on Learning Representations (ICLR), April 2022
    Paper Code
    Bottom-Up Skill Discovery from Unsegmented Demonstrations for Long-Horizon Robot Manipulation
    Yifeng Zhu, Peter Stone, Yuke Zhu
    IEEE Robotics and Automation Letters (RA-L), January 2022
    Paper Project Video Code

    2021

    Adversarial Skill Chaining for Long-Horizon Robot Manipulation via Terminal State Regularization
    Youngwoon Lee, Joseph J. Lim, Anima Anandkumar, Yuke Zhu
    Conference on Robot Learning (CoRL), November 2021
    Paper Project Code
    What Matters in Learning from Offline Human Demonstrations for Robot Manipulation
    Ajay Mandlekar, Danfei Xu, Josiah Wong, Soroush Nasiriany, Chen Wang, Rohun Kulkarni, Li Fei-Fei, Silvio Savarese, Yuke Zhu, Roberto Martín-Martín
    Conference on Robot Learning (CoRL), November 2021
    Oral Presentation
    Paper Project Video Blog Code
    DiscoBox: Weakly Supervised Instance Segmentation and Semantic Correspondence from Box Supervision
    Shiyi Lan, Zhiding Yu, Christopher Choy, Subhashree Radhakrishnan, Guilin Liu, Yuke Zhu, Larry S. Davis, Anima Anandkumar
    International Conference on Computer Vision (ICCV), October 2021
    Paper Code
    Discovering Generalizable Skills via Automated Generation of Diverse Tasks
    Kuan Fang, Yuke Zhu, Silvio Savarese, Li Fei-Fei
    Robotics: Science and Systems (RSS), July 2021
    Paper Project
    Synergies Between Affordance and Geometry: 6-DoF Grasp Detection via Implicit Representations
    Zhenyu Jiang, Yifeng Zhu, Maxwell Svetlik, Kuan Fang, Yuke Zhu
    Robotics: Science and Systems (RSS), July 2021
    Paper Project Video Code
    SECANT: Self-Expert Cloning for Zero-Shot Generalization of Visual Policies
    Linxi Fan, Guanzhi Wang, De-An Huang, Zhiding Yu, Li Fei-Fei, Yuke Zhu, Anima Anandkumar
    International Conference on Machine Learning (ICML), July 2021
    Paper Project Code
    Coach-Player Multi-Agent Reinforcement Learning for Dynamic Team Composition
    Bo Liu, Qiang Liu, Peter Stone, Animesh Garg, Yuke Zhu, Anima Anandkumar
    International Conference on Machine Learning (ICML), July 2021
    Long Talk
    Paper
    Tesseract: Tensorised Actors for Multi-Agent Reinforcement Learning
    Anuj Mahajan, Mikayel Samvelyan, Lei Mao, Viktor Makoviychuk, Animesh Garg, Jean Kossaifi, Shimon Whiteson, Yuke Zhu, Anima Anandkumar
    International Conference on Machine Learning (ICML), July 2021
    Paper
    MultiBench: Multiscale Benchmarks for Multimodal Representation Learning
    Paul Pu Liang, Yiwei Lyu, Xiang Fan, Zetian Wu, Yun Cheng, Jason Wu, Leslie Chen, Peter Wu, Michelle A. Lee, Yuke Zhu, Ruslan Salakhutdinov, Louis-Philippe Morency
    NeurIPS 2021 Datasets and Benchmarks Track, July 2021
    Paper Project Code
    Fast Uncertainty Quantification for Deep Object Pose Estimation
    Guanya Shi, Yifeng Zhu, Jonathan Tremblay, Stan Birchfield, Fabio Ramos, Anima Anandkumar, Yuke Zhu
    IEEE International Conference on Robotics and Automation (ICRA), May 2021
    Paper Project Video Blog Code
    Hierarchical Planning for Long-Horizon Manipulation with Geometric and Symbolic Scene Graphs
    Yifeng Zhu, Jonathan Tremblay, Stan Birchfield, Yuke Zhu
    IEEE International Conference on Robotics and Automation (ICRA), May 2021
    Paper Project Video
    Deep Affordance Foresight: Planning Through What Can Be Done in the Future
    Danfei Xu, Ajay Mandlekar, Roberto Martín-Martín, Yuke Zhu, Silvio Savarese, Li Fei-Fei
    IEEE International Conference on Robotics and Automation (ICRA), May 2021
    Paper Project Video
    Detect, Reject, Correct: Crossmodal Compensation of Corrupted Sensors
    Michelle A. Lee, Matthew Tan, Yuke Zhu, Jeannette Bohg
    IEEE International Conference on Robotics and Automation (ICRA), May 2021
    Paper Project Video
    Emergent Hand Morphology and Control from Optimizing Robust Grasps of Diverse Objects
    Xinlei Pan, Animesh Garg, Anima Anandkumar, Yuke Zhu
    IEEE International Conference on Robotics and Automation (ICRA), May 2021
    Paper Project
    Learning Multi-Arm Manipulation Through Collaborative Teleoperation
    Albert Tung, Josiah Wong, Ajay Mandlekar, Roberto Martín-Martín, Yuke Zhu, Li Fei-Fei, Silvio Savarese
    IEEE International Conference on Robotics and Automation (ICRA), May 2021
    Best Multi-Robotic Systems Paper Award Finalist
    Paper Project Video
    Adaptive Procedural Task Generation for Hard-Exploration Problems
    Kuan Fang, Yuke Zhu, Silvio Savarese, Li Fei-Fei
    International Conference on Learning Representations (ICLR), May 2021
    Paper Project