Publications

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

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


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
Technical report arXiv:1909.13003, September 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