Publications

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

    2023

    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

    2022

    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

    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

    Few-View Object Reconstruction with Unknown Categories and Camera Poses
    Hanwen Jiang, Zhenyu Jiang, Kristen Grauman, Yuke Zhu
    Technical report arXiv:2212.04492, December 2022

    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

    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

    Robot Learning on the Job: Human-in-the-Loop Autonomy and Learning During Deployment
    Huihan Liu, Soroush Nasiriany, Lance Zhang, Zhiyao Bao, Yuke Zhu
    Technical report arXiv:2211.08416, November 2022

    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
    Technical report arXiv:2210.03094, October 2022

    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

    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 Finalist

    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

    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

    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

    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

    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

    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

    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

    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

    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

    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

    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

    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

    Learning Generalizable Skills via Automated Generation of Diverse Tasks
    Kuan Fang, Yuke Zhu, Silvio Savarese, Li Fei-Fei
    Robotics: Science and Systems (RSS), July 2021

    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

    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

    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

    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

    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

    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

    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

    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

    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 Finalist

    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

    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

    2020

    Human-in-the-Loop Imitation Learning using Remote Teleoperation
    Ajay Mandlekar, Danfei Xu, Roberto Martín-Martín, Yuke Zhu, Li Fei-Fei, Silvio Savarese
    Technical report arXiv:2012.06733, December 2020

    Bongard-LOGO: A New Benchmark for Human-Level Concept Learning and Reasoning
    Weili Nie, Zhiding Yu, Lei Mao, Ankit B. Patel, Yuke Zhu, Animashree Anandkumar
    Conference on Neural Information Processing Systems (NeurIPS), December 2020
    Spotlight Presentation

    Learning a Contact-Adaptive Controller for Robust, Efficient Legged Locomotion
    Xingye Da, Zhaoming Xie, David Hoeller, Byron Boots, Anima Anandkumar, Yuke Zhu, Buck Babich, Animesh Garg
    Conference on Robot Learning (CoRL), November 2020

    robosuite: A Modular Simulation Framework and Benchmark for Robot Learning
    Yuke Zhu, Josiah Wong, Ajay Mandlekar, Roberto Martín-Martín, Abhishek Joshi, Soroush Nasiriany, Yifeng Zhu
    Technical report arXiv:2009.12293, September 2020

    RubiksNet: Learnable 3D-Shift for Efficient Video Action Recognition
    Linxi Fan*, Shyamal Buch*, Guanhzi Wang, Ryan Cao, Yuke Zhu, Juan Carlos Niebles, Li Fei-Fei
    European Conference on Computer Vision (ECCV), August 2020
    * indicates equal contribution

    OCEAN: Online Task Inference for Compositional Tasks with Context Adaptation
    Hongyu Ren, Yuke Zhu, Jure Leskovec, Anima Anandkumar, Animesh Garg
    Conference on Uncertainty in Artificial Intelligence (UAI), August 2020

    DualSMC: Tunneling Differentiable Filtering and Planning under Continuous POMDPs
    Yunbo Wang*, Bo Liu*, Jiajun Wu, Yuke Zhu, Simon S. Du, Li Fei-Fei, Joshua B. Tenenbaum
    International Joint Conference on Artificial Intelligence (IJCAI), July 2020
    * indicates equal contribution

    6-PACK: Category-Level 6D Pose Tracker with Anchor-Based Keypoints
    Chen Wang, Roberto Martín-Martín, Danfei Xu, Jun Lv, Cewu Lu, Li Fei-Fei, Silvio Savarese, Yuke Zhu
    IEEE International Conference on Robotics and Automation (ICRA), May 2020

    KETO: Learning Keypoint Representations for Tool Manipulation
    Zengyi Qin, Kuan Fang, Yuke Zhu, Li Fei-Fei, Silvio Savarese
    IEEE International Conference on Robotics and Automation (ICRA), May 2020

    Making Sense of Vision and Touch: Learning Multimodal Representations for Contact-Rich Tasks
    Michelle A. Lee, Yuke Zhu, Peter Zachares, Matthew Tan, Krishnan Srinivasan, Silvio Savarese, Li Fei-Fei, Animesh Garg, Jeannette Bohg
    IEEE Transactions on Robotics (T-RO), March 2020

    2019

    Causal Induction from Visual Observations for Goal Directed Tasks
    Suraj Nair, Yuke Zhu, Silvio Savarese, Li Fei-Fei
    NeurIPS 2019 Workshop on Causal Machine Learning, December 2019

    Regression Planning Networks
    Danfei Xu, Roberto Martín-Martín, De-An Huang, Yuke Zhu, Silvio Savarese, Li Fei-Fei
    Conference on Neural Information Processing Systems (NeurIPS), December 2019

    Scaling Robot Supervision to Hundreds of Hours with RoboTurk: Robotic Manipulation Dataset through Human Reasoning and Dexterity
    Ajay Mandlekar, Jonathan Booher, Max Spero, Albert Tung, Anchit Gupta, Yuke Zhu, Animesh Garg, Silvio Savarese, Li Fei-Fei
    IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), November 2019
    Best Cognitive Robotics Paper Finalist

    Continuous Relaxation of Symbolic Planner for One-Shot Imitation Learning
    De-An Huang, Danfei Xu, Yuke Zhu, Animesh Garg, Silvio Savarese, Li Fei-Fei, Juan Carlos Niebles
    IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), November 2019

    Dynamics Learning with Cascaded Variational Inference for Multi-Step Manipulation
    Kuan Fang, Yuke Zhu, Animesh Garg, Silvio Savarese, Li Fei-Fei
    Conference on Robot Learning (CoRL), October 2019
    Oral Presentation

    Situational Fusion of Visual Representation for Visual Navigation
    William B. Shen, Danfei Xu, Yuke Zhu, Leo Guibas, Li Fei-Fei, Silvio Savarese
    International Conference on Computer Vision (ICCV), October 2019

    SURREAL-System: Fully-Integrated Stack for Distributed Deep Reinforcement Learning
    Linxi Fan*, Yuke Zhu*, Jiren Zhu, Zihua Liu, Orien Zeng, Anchit Gupta, Joan Creus-Costa, Silvio Savarese, Li Fei-Fei
    Technical report arXiv:1909.12989, September 2019
    * indicates equal contribution

    Closing the Perception-Action Loop: Towards Building General-Purpose Robot Autonomy
    Yuke Zhu
    Stanford University Ph.D. Dissertation, August 2019

    Learning Task-Oriented Grasping for Tool Manipulation from Simulated Self-Supervision
    Kuan Fang, Yuke Zhu, Animesh Garg, Andrey Kurenkov, Viraj Mehta, Li Fei-Fei, Silvio Savarese
    International Journal of Robotics Research (IJRR), August 2019

    DenseFusion: 6D Object Pose Estimation by Iterative Dense Fusion
    Chen Wang, Danfei Xu, Yuke Zhu, Roberto Martín-Martín, Cewu Lu, Li Fei-Fei, Silvio Savarese
    IEEE Conference on Computer Vision and Pattern Recognition (CVPR), June 2019

    Neural Task Graphs: Generalizing to Unseen Tasks from a Single Video Demonstration
    De-An Huang*, Suraj Nair*, Danfei Xu*, Yuke Zhu, Animesh Garg, Li Fei-Fei, Silvio Savarese, Juan Carlos Niebles
    IEEE Conference on Computer Vision and Pattern Recognition (CVPR), June 2019
    Oral Presentation
    * indicates equal contribution

    Making Sense of Vision and Touch: Self-Supervised Learning of Multimodal Representations for Contact-Rich Tasks
    Michelle A. Lee*, Yuke Zhu*, Krishnan Srinivasan, Parth Shah, Silvio Savarese, Li Fei-Fei, Animesh Garg, Jeannette Bohg
    IEEE International Conference on Robotics and Automation (ICRA), May 2019
    Best Conference Paper Award
    * indicates equal contribution