Visible Touch: Rendering Contact for Visuomotor Policies
Metin Alp Dogan, Edward Sun, Feng Xu, Daniel Wu, Allen Peng, Dennis Hong, Yuchen Cui
CoRL 2026
Meta-Ctrl: Guaranteed Plan Generation by Decoupling Syntactic and Semantic Constraints
Gwen Yidou-Weng, Edward Sun, Tianyi Ma, Metin Alp Dogan, Benjie Wang, Allen Peng, Guy Van den Broeck, Yuchen Cui
CoRL 2026
FetchMan: Learning Visual Humanoid Loco-Manipulation Policies from Simulated Experiences
Omar Rayyan, Zhi Li, Max Argus, Yuxin Jiang, Chang Yu, Chenfanfu Jiang, Yuchen Cui
In Submission, August 2026
Proximal State Nudging: Reducing Skill Atrophy from AI Assistance
Megha Srivastava, Jonathan Ouyang, Eric Zhou, Andrew Silva, Emily Sumner, Dorsa Sadigh, Yuchen Cui, Deepak Gopinath, Guy Rosman
In Submission, May 2026
Learning from the Best: Smoothness-Driven Metrics for Data Quality in Imitation Learning
Soham Kulkarni, Raayan Dhar, Yuchen Cui
IROS 2026
DexEXO: A Wearability-First Dexterous Exoskeleton for Operator-Agnostic Demonstration and Learning
Alvin Zhu, Mingzhang Zhu, Beom Jun Kim, Jose Victor S. H. Ramos, Yike Shi, Yufeng Wu, Raayan Dhar, Fuyi Yang, Ruochen Hou, Hanzhang Fang, Quanyou Wang, Yuchen Cui, Dennis W. Hong
IROS 2026
TeleDex: Accessible Dexterous Teleoperation
Omar Rayyan, Maximilian Gilles, Yuchen Cui
IROS 2026
MolmoSpaces: A Large-Scale Open Ecosystem for Robot Navigation and Manipulation
Omar Rayyan*, Yejin Kim*, Wilbert Pumacay*, Max Argus*, ... , Yuchen Cui, Ali Farhadi, Dieter Fox, Ranjay Krishna
RSS 2026
DiSCo: Diffusion Sequence Copilots for Shared Autonomy
Brandon McMahan, Andy Wang, Xu Yan, Michael Zhou, Yuyang Yuan, Johannes Y. Lee, Ali Shreif, Matthew Li, Zhenghao Peng, Bolei Zhou, Yuchen Cui, Jonathan C. Kao
HRI 2026
Intent at a Glance: Gaze-Guided Robotic Manipulation via Foundation Models
Tracey Yee Hsin Tay, Xu Yan, Jonathan Ouyang, Daniel Wu, William Jiang, Jonathan Kao, Yuchen Cui
RSS 2025 Workshop on Robot Planning in the Era of Foundation Models, June 2025
TRACE: Textual Reasoning for Affordance Coordinate Extraction
Sangyun Park, Jin Kim, Yuchen Cui, Matthew S Brown
ICCV 2025 Knowledge-Intensive Multimodal Reasoning Workshop, Nov 2025
Casper: Inferring Diverse Intents for Assistive Teleoperation with Vision Language Models
Huihan Liu, Rutav Shah, Shuijing Liu, Jack Pittenger, Mingyo Seo, Yuchen Cui, Yonatan Bisk, Roberto Martín-Martín, Yuke Zhu
Conference on Robot Learning (CoRL), September 2025
GraphPad: Inference-Time 3D Scene Graph Updates for Embodied Question Answering
Muhammad Qasim Ali, Saeejith Nair, Alexander Wong, Yuchen Cui, Yuhao Chen
CVPR Workshop on 3D-LLM/VLA: Bridging Language, Vision and Action in 3D Environments, June 2025
SAMJAM: Zero-Shot Video Scene Graph Generation for Egocentric Kitchen Videos
Joshua Li, Fernando Jose Pena Cantu, Emily Yu, Alexander Wong, Yuchen Cui, Yuhao Chen
Computer Vision and Pattern Recognition Conference (CVPR) MetaFood Workshop, June 2025
Shared Autonomy for Proximal Teaching
Megha Srivastava, Reihaneh Iranmanesh, Yuchen Cui, Deepak Gopinath, Emily Sarah Sumner, Andrew Silva, Laporsha Dees, Guy Rosman, Dorsa Sadigh
ACM/IEEE International Conference on Human-Robot Interaction (HRI), Mar 2025
How to Train Your Robots? The Impact of Demonstration Modality on Imitation Learning
Haozhuo Li, Yuchen Cui, Dorsa Sadigh
Proceedings of the International Conference on Robotics and Automation (ICRA), May 2025
FlowRetrieval: Flow-Guided Data Retrieval for Few-Shot Imitation Learning
Li-Heng Lin, Yuchen Cui, Amber Xie, Tianyu Hua, Dorsa Sadigh
Conference on Robot Learning (CoRL), November 2024
Distilling and Retrieving Generalizable Knowledge for Robot Manipulation via Language Corrections
Lihan Zha, Yuchen Cui, Li-Heng Lin, Minae Kwon, Montserrat Gonzalez Arenas, Andy Zeng, Fei Xia, Dorsa Sadigh
International Conference on Robotics and Automation (ICRA), May 2024
Open X-Embodiment: Robotic Learning Datasets and RT-X Models
Open X-Embodiment Collaboration
International Conference on Robotics and Automation (ICRA), May 2024
Data Quality in Imitation Learning
Suneel Belkhale, Yuchen Cui, Dorsa Sadigh
Conference on Neural Information Processing Systems (NeurIPS), December 2023
HYDRA: Hybrid Robot Actions for Imitation Learning
Suneel Belkhale, Yuchen Cui, Dorsa Sadigh
Conference on Robot Learning (CoRL), November 2023
Gesture-Informed Robot Assistance via Foundation Model
Li-Heng Lin, Yuchen Cui, Yilun Hao, Fei Xia, Dorsa Sadigh
Conference on Robot Learning (CoRL), November 2023
Masked Imitation Learning: Discovering Environment-Invariant Modalities in Multimodal Demonstrations
Yilun Hao*, Ruinan Wang*, Zhangjie Cao, Zihan Wang, Yuchen Cui, Dorsa Sadigh
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), October 2023
"No, to the Right" – Online Language Corrections for Robotic Manipulation via Shared Autonomy
Yuchen Cui*, Siddharth Karamcheti*, Raj Palleti, Nidhya Shivakumar, Percy Liang, Dorsa Sadigh
Proceedings of the 2023 ACM/IEEE International Conference on Human-Robot Interaction (HRI), March 2023
Can Foundation Models Perform Zero-Shot Task Specification For Robot Manipulation?
Yuchen Cui, Scott Niekum, Abhinav Gupta, Vikash Kumar, Arvind Rajeswaran
Learning for Dynamics & Control Conference (L4DC), June 2022
Understanding the Relationship between Interactions and Outcomes in Human-in-the-Loop Machine Learning
Yuchen Cui, Pallavi Koppol, Henny Admoni, Scott Niekum, Reid Simmons, Aaron Steinfeld, Tesca Fitzgerald
Proceedings of the Thirtieth International Joint Conference on Artificial Intelligence (IJCAI), August 2021
The EMPATHIC Framework for Task Learning from Implicit Human Feedback
Yuchen Cui, Qiping Zhang, Alessandro Allievi, Peter Stone, Scott Niekum, and W. Bradley Knox
Conference on Robot Learning (CoRL), November 2020
Uncertainty-Aware Data Aggregation for Deep Imitation Learning
Yuchen Cui, David Isele, Scott Niekum, Kikuo Fujimura
International Conference on Robotics and Automation (ICRA), May 2019
Risk-Aware Active Inverse Reinforcement Learning
Daniel S. Brown*, Yuchen Cui*, Scott Niekum
Conference on Robot Learning (CoRL), November 2020
Active Reward Learning from Critiques
Yuchen Cui, Scott Niekum
International Conference on Robotics and Automation (ICRA), May 2018
