Yifeng Zhu 朱毅枫

I am a founding member and member of technical staff at Reward AI.

My research focuses on teaching robots to acquire sensorimotor skills efficiently and operate in open-world scenarios, with the goal of enabling autonomous robots to help people in all walks of life.

Previously, I received my Ph.D. in Computer Science at the University of Texas at Austin, advised by Prof. Peter Stone and Prof. Yuke Zhu. Before that, I received my B.Eng in Automation from Zhejiang University. I have also spent some time at Carnegie Mellon University as a visiting student.

Email / Google Scholar / LinkedIn / X

OM-1, Reward AI
VIOLA, CoRL 2022
OM-1, Reward AI
OKAMI, CoRL 2024
OM-1, Reward AI
VIOLA, CoRL 2022
OM-1, Reward AI
OM-1, Reward AI

OM-1, Reward AI
VIOLA, CoRL 2022
OM-1, Reward AI
OKAMI, CoRL 2024
OM-1, Reward AI
VIOLA, CoRL 2022
OM-1, Reward AI
OM-1, Reward AI

Education

2019 - 2025, Ph.D. in Computer Science, The University of Texas at Austin
2014 - 2018, B.Eng. in Automation & B.A. in English Language and Literature, Zhejiang University

Exchange / Visiting Experiences

2017 - 2018, Carnegie Mellon University
2017, UCLA

Research (Selected Projects)

	OM-1: Frontier Robot Intelligence, Learned Firsthand from Humans Reward AI Team Technical Blog, 2026 blog video bibtex
	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*, 2023 project paper code bibtex
	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, 2022 project paper code bibtex
	Deoxys: A Modular, Real-Time Controller Library for Robot Learning Yifeng Zhu A user-friendly interface in Python and real-time controller implementation in C++ project video code bibtex
	VIOLA: Imitation Learning for Vision-Based Manipulation with Object Proposal Priors Yifeng Zhu, Abhishek Joshi, Peter Stone, Yuke Zhu Conference on Robot Learning (CoRL), 2022 project paper code bibtex poster media

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) (oral presentation), 2024
project paper video bibtex

ORION: Vision-based Manipulation from Single Human Video with Open-World Object Graphs

Yifeng Zhu, Arisrei Lim, Peter Stone, Yuke Zhu
ArXiv Preprint, 2024
project paper video bibtex

GROOT: Learning Generalizable Manipulation Policies with Object-Centric 3D Representations

Yifeng Zhu, Zhenyu Jiang, Peter Stone, Yuke Zhu
Conference on Robot Learning (CoRL), 2023
project paper video code bibtex poster

LOTUS: Continual Imitation Learning for Robot Manipulation Through Unsupervised Skill Discovery

Weikang Wan, Yifeng Zhu*, Rutav Shah*, Yuke Zhu
International Conference on Robotics and Automation (ICRA), 2024
project paper video bibtex

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), 2022
project paper video code bibtex

BUMBLE: Unifying Reasoning and Acting with VLMs for Building-Wide Mobile Manipulation

Rutav Shah, Albert Yu, Yifeng Zhu, Yuke Zhu, Roberto Martín-Martín
Technical Reports, 2024
project paper code

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), 2023
project paper poster

Visually Grounded Task and Motion Planning for Mobile Manipulation

Xiaohan Zhang, Yifeng Zhu, Yan Ding, Yuke Zhu, Peter Stone, Shiqi Zhang
International Conference on Robotics and Automation (ICRA), 2022
project paper code

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), 2021
project paper video code

Hierarchical Planning for Long-Horizon Manipulation with Geometric and Symbolic Scene Graphs

Yifeng Zhu, Jonathan Tremblay, Stan Birchfield, Yuke Zhu
International Conference on Robotics and Automation (ICRA), 2021
project paper video bibtex

Fast Uncertainty Quantification for Deep Object Pose Estimation

Guanya Shi, Yifeng Zhu, Jonathan Tremblay, Stan Birchfield, Fabio Ramos, Animashree Anandkumar, Yuke Zhu
International Conference on Robotics and Automation (ICRA), 2021
project paper video

Contact

Email: yifeng.zhu [at] utexas.edu

Design and source code from Jon Barron's website