Publications

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

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, Animashree 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
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, Animashree Anandkumar, Animesh Garg
Conference on Uncertainty in Artificial Intelligence (UAI), August 2020

Dual Sequential Monte Carlo: Tunneling Filtering and Planning in 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

Adaptive Procedural Task Generation for Hard-Exploration Problems
Kuan Fang, Yuke Zhu, Silvio Savarese, Li Fei-Fei
Technical report arXiv:2007.00350, July 2020

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

2018

RoboTurk: A Crowdsourcing Platform for Robotic Skill Learning through Imitation
Ajay Mandlekar, Yuke Zhu, Animesh Garg, Jonathan Booher, Max Spero, Albert Tung, Julian Gao, John Emmons, Anchit Gupta, Emre Orbay, Silvio Savarese, Li Fei-Fei
Conference on Robot Learning (CoRL), October 2018

SURREAL: Open-Source Reinforcement Learning Framework and Robot Manipulation Benchmark
Linxi Fan*, Yuke Zhu*, Jiren Zhu, Zihua Liu, Orien Zeng, Anchit Gupta, Joan Creus-Costa, Silvio Savarese, Li Fei-Fei
Conference on Robot Learning (CoRL), October 2018
* indicates equal contribution

Reinforcement and Imitation Learning for Diverse Visuomotor Skills
Yuke Zhu, Ziyu Wang, Josh Merel, Andrei Rusu, Tom Erez, Serkan Cabi, Saran Tunyasuvunakool, János Kramár, Raia Hadsell, Nando de Freitas, Nicolas Heess
Robotics: Science and Systems (RSS), June 2018

Learning Task-Oriented Grasping for Tool Manipulation with Simulated Self-Supervision
Kuan Fang, Yuke Zhu, Animesh Garg, Viraj Mehta, Andrey Kurenkov, Li Fei-Fei, Silvio Savarese
Robotics: Science and Systems (RSS), June 2018

Neural Task Programming: Learning to Generalize Across Hierarchical Tasks
Danfei Xu*, Suraj Nair*, Yuke Zhu, Julian Gao, Animesh Garg, Li Fei-Fei, Silvio Savarese
IEEE International Conference on Robotics and Automation (ICRA), May 2018
* indicates equal contribution

2017

AdaPT: Zero-Shot Adaptive Policy Transfer for Stochastic Dynamical Systems
James Harrison*, Animesh Garg*, Boris Ivanovic, Yuke Zhu, Silvio Savarese, Li Fei-Fei, Marco Pavone
International Symposium on Robotics Research (ISRR), December 2017
* indicates equal contribution

Visual Semantic Planning using Deep Successor Representations
Yuke Zhu*, Daniel Gordon*, Eric Kolve, Dieter Fox, Li Fei-Fei, Abhinav Gupta, Roozbeh Mottaghi, Ali Farhadi
International Conference on Computer Vision, October 2017
* indicates equal contribution

Vicus: Exploiting Local Structures to Improve Network-based Analysis of Biological Data
Bo Wang, Lin Huang, Yuke Zhu, Anshul Kundaje, Serafim Batzoglou, Anna Goldenberg
PLoS Computational Biology, October 2017

Adversarially Robust Policy Learning through Active Construction of Physically-Plausible Perturbations
Ajay Mandlekar*, Yuke Zhu*, Animesh Garg*, Li Fei-Fei, Silvio Savarese
International Conference on Intelligent Robots and Systems (IROS), September 2017
* indicates equal contribution

Knowledge Acquisition for Visual Question Answering via Iterative Querying
Yuke Zhu, Joseph J. Lim, Li Fei-Fei
IEEE Conference on Computer Vision and Pattern Recognition (CVPR), July 2017

Scene Graph Generation by Iterative Message Passing
Danfei Xu, Yuke Zhu, Christopher B. Choy, Li Fei-Fei
IEEE Conference on Computer Vision and Pattern Recognition (CVPR), July 2017

Target-driven Visual Navigation in Indoor Scenes using Deep Reinforcement Learning
Yuke Zhu, Roozbeh Mottaghi, Eric Kolve, Joseph J. Lim, Abhinav Gupta, Li Fei-Fei, Ali Farhadi
International Conference on Robotics and Automation (ICRA), May 2017

Visual Genome: Connecting Language and Vision Using Crowdsourced Dense Image Annotations
Ranjay Krishna, Yuke Zhu, Oliver Groth, Justin Johnson, Kenji Hata, Joshua Kravitz, Stephanie Chen, Yannis Kalanditis, Li-Jia Li, David A. Shamma, Michael Bernstein, Li Fei-Fei
International Journal of Computer Vision (IJCV), February 2017

2016

Visual7W: Grounded Question Answering in Images
Yuke Zhu, Oliver Groth, Michael Bernstein, Li Fei-Fei
IEEE Conference on Computer Vision and Pattern Recognition (CVPR), June 2016

2015

Action Recognition by Hierarchical Mid-level Action Elements
Tian Lan*, Yuke Zhu*, Amir Roshan Zamir, Silvio Savarese
International Conference on Computer Vision (ICCV), December 2015
* indicates equal contribution

Building a Large-scale Multimodal Knowledge Base System for Answering Visual Queries
Yuke Zhu, Ce Zhang, Christopher Ré, Li Fei-Fei
Technical report arXiv:1507.05670, July 2015

2014

Reasoning About Object Affordances in a Knowledge Base Representation
Yuke Zhu, Alireza Fathi, Li Fei-Fei
European Conference on Computer Vision (ECCV), September 2014

StrokeBank: Automating Personalized Chinese Handwriting Generation
Alfred Zong, Yuke Zhu
Conference on Innovative Applications of Artificial Intelligence (IAAI), July 2014

2013

Graphical Model-based Learning in High Dimensional Feature Spaces
Zhao Song, Yuke Zhu
AAAI Conference on Artificial Intelligence (AAAI), July 2013

Latent Spatio-temporal Models for Action Localization and Recognition in Nursing Home Surveillance Video
Yuke Zhu, Tian Lan, Yijian Yang, Steven N. Robinovitch, Greg Mori
IAPR International Conference on Machine Vision Applications (MVA), May 2013

Modelling Relational Statistics With Bayes Nets
Oliver Schulte, Hassan Khosravi, Arthur Kirkpatrick, Tianxiang Gao, Yuke Zhu
Machine Learning Journal, May 2013