Andy Zeng

According to our database, Andy Zeng authored at least 67 papers between 2015 and 2024.

Collaborative distances:

• Dijkstra number of four.
• Erdős number of three.

2024

Special issue on real-world robot applications of the foundation models.

Kento Kawaharazuka, Tatsuya Matsushima, Shuhei Kurita, Chris Paxton, Andy Zeng, Tetsuya Ogata, Tadahiro Taniguchi

Adv. Robotics, September, 2024

Real-world robot applications of foundation models: a review.

Kento Kawaharazuka, Tatsuya Matsushima, Andrew Gambardella, Jiaxian Guo, Chris Paxton, Andy Zeng

Adv. Robotics, September, 2024

Embodied AI with Two Arms: Zero-shot Learning, Safety and Modularity.

Jake Varley, Sumeet Singh, Deepali Jain, Krzysztof Choromanski, Andy Zeng, Somnath Basu Roy Chowdhury, Avinava Dubey, Vikas Sindhwani

CoRR, 2024

Learning to Learn Faster from Human Feedback with Language Model Predictive Control.

Jacky Liang, Fei Xia, Wenhao Yu, Andy Zeng, Montserrat Gonzalez Arenas, Maria Attarian, Maria Bauzá, Matthew Bennice, Alex Bewley, Adil Dostmohamed, Chuyuan Kelly Fu, Nimrod Gileadi, Marissa Giustina, Keerthana Gopalakrishnan, Leonard Hasenclever, Jan Humplik, Jasmine Hsu, Nikhil J. Joshi, Ben Jyenis, J. Chase Kew, Sean Kirmani, Tsang-Wei Edward Lee, Kuang-Huei Lee, Assaf Hurwitz Michaely, Joss Moore, Ken Oslund, Dushyant Rao, Allen Z. Ren, Baruch Tabanpour, Quan Vuong, Ayzaan Wahid, Ted Xiao, Ying Xu, Vincent Zhuang, Peng Xu, Erik Frey, Ken Caluwaerts, Tingnan Zhang, Brian Ichter, Jonathan Tompson, Leila Takayama, Vincent Vanhoucke, Izhak Shafran, Maja J. Mataric, Dorsa Sadigh, Nicolas Heess, Kanishka Rao, Nik Stewart, Jie Tan, Carolina Parada

CoRR, 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

Proceedings of the IEEE International Conference on Robotics and Automation, 2024

How to Prompt Your Robot: A PromptBook for Manipulation Skills with Code as Policies.

Montserrat Gonzalez Arenas, Ted Xiao, Sumeet Singh, Vidhi Jain, Allen Z. Ren, Quan Vuong, Jake Varley, Alexander Herzog, Isabel Leal, Sean Kirmani, Mario Prats, Dorsa Sadigh, Vikas Sindhwani, Kanishka Rao, Jacky Liang, Andy Zeng

Proceedings of the IEEE International Conference on Robotics and Automation, 2024

PIVOT: Iterative Visual Prompting Elicits Actionable Knowledge for VLMs.

Soroush Nasiriany, Fei Xia, Wenhao Yu, Ted Xiao, Jacky Liang, Ishita Dasgupta, Annie Xie, Danny Driess, Ayzaan Wahid, Zhuo Xu, Quan Vuong, Tingnan Zhang, Tsang-Wei Edward Lee, Kuang-Huei Lee, Peng Xu, Sean Kirmani, Yuke Zhu, Andy Zeng, Karol Hausman, Nicolas Heess, Chelsea Finn, Sergey Levine, Brian Ichter

Proceedings of the Forty-first International Conference on Machine Learning, 2024

Chain of Code: Reasoning with a Language Model-Augmented Code Emulator.

Chengshu Li, Jacky Liang, Andy Zeng, Xinyun Chen, Karol Hausman, Dorsa Sadigh, Sergey Levine, Li Fei-Fei, Fei Xia, Brian Ichter

Proceedings of the Forty-first International Conference on Machine Learning, 2024

Video Language Planning.

Yilun Du, Sherry Yang, Pete Florence, Fei Xia, Ayzaan Wahid, Brian Ichter, Pierre Sermanet, Tianhe Yu, Pieter Abbeel, Joshua B. Tenenbaum, Leslie Pack Kaelbling, Andy Zeng, Jonathan Tompson

Proceedings of the Twelfth International Conference on Learning Representations, 2024

Generative Expressive Robot Behaviors using Large Language Models.

Karthik Mahadevan, Jonathan Chien, Noah Brown, Zhuo Xu, Carolina Parada, Fei Xia, Andy Zeng, Leila Takayama, Dorsa Sadigh

Proceedings of the 2024 ACM/IEEE International Conference on Human-Robot Interaction, 2024

2023

TidyBot: personalized robot assistance with large language models.

Jimmy Wu, Rika Antonova, Adam Kan, Marion Lepert, Andy Zeng, Shuran Song, Jeannette Bohg, Szymon Rusinkiewicz, Thomas A. Funkhouser

Auton. Robots, December, 2023

Algorithms and Systems for Manipulating Multiple Objects.

Zherong Pan, Andy Zeng, Yunzhu Li, Jingjin Yu, Kris Hauser

IEEE Trans. Robotics, February, 2023

Editorial: Language, affordance and physics in robot cognition and intelligent systems.

Nutan Chen, Walterio W. Mayol-Cuevas, Maximilian Karl, Elie Aljalbout, Andy Zeng, Aurelio Cortese, Wolfram Burgard, Herke van Hoof

Frontiers Robotics AI, 2023

General Part Assembly Planning.

Yulong Li, Andy Zeng, Shuran Song

CoRR, 2023

RoboPianist: A Benchmark for High-Dimensional Robot Control.

Kevin Zakka, Laura M. Smith, Nimrod Gileadi, Taylor A. Howell, Xue Bin Peng, Sumeet Singh, Yuval Tassa, Pete Florence, Andy Zeng, Pieter Abbeel

CoRR, 2023

Audio Visual Language Maps for Robot Navigation.

Chenguang Huang, Oier Mees, Andy Zeng, Wolfram Burgard

CoRR, 2023

Grounded Decoding: Guiding Text Generation with Grounded Models for Robot Control.

Wenlong Huang, Fei Xia, Dhruv Shah, Danny Driess, Andy Zeng, Yao Lu, Pete Florence, Igor Mordatch, Sergey Levine, Karol Hausman, Brian Ichter

CoRR, 2023

Demonstrating Large Language Models on Robots.

Andy Zeng, Brian Ichter, Fei Xia, Ted Xiao, Vikas Sindhwani

Proceedings of the Robotics: Science and Systems XIX, Daegu, 2023

Grounded Decoding: Guiding Text Generation with Grounded Models for Embodied Agents.

Wenlong Huang, Fei Xia, Dhruv Shah, Danny Driess, Andy Zeng, Yao Lu, Pete Florence, Igor Mordatch, Sergey Levine, Karol Hausman, Brian Ichter

Proceedings of the Advances in Neural Information Processing Systems 36: Annual Conference on Neural Information Processing Systems 2023, 2023

Code as Policies: Language Model Programs for Embodied Control.

Jacky Liang, Wenlong Huang, Fei Xia, Peng Xu, Karol Hausman, Brian Ichter, Pete Florence, Andy Zeng

Proceedings of the IEEE International Conference on Robotics and Automation, 2023

Visual Language Maps for Robot Navigation.

Chenguang Huang, Oier Mees, Andy Zeng, Wolfram Burgard

Proceedings of the IEEE International Conference on Robotics and Automation, 2023

PaLM-E: An Embodied Multimodal Language Model.

Danny Driess, Fei Xia, Mehdi S. M. Sajjadi, Corey Lynch, Aakanksha Chowdhery, Brian Ichter, Ayzaan Wahid, Jonathan Tompson, Quan Vuong, Tianhe Yu, Wenlong Huang, Yevgen Chebotar, Pierre Sermanet, Daniel Duckworth, Sergey Levine, Vincent Vanhoucke, Karol Hausman, Marc Toussaint, Klaus Greff, Andy Zeng, Igor Mordatch, Pete Florence

Proceedings of the International Conference on Machine Learning, 2023

Socratic Models: Composing Zero-Shot Multimodal Reasoning with Language.

Andy Zeng, Maria Attarian, Brian Ichter, Krzysztof Marcin Choromanski, Adrian Wong, Stefan Welker, Federico Tombari, Aveek Purohit, Michael S. Ryoo, Vikas Sindhwani, Johnny Lee, Vincent Vanhoucke, Pete Florence

Proceedings of the Eleventh International Conference on Learning Representations, 2023

RoboPianist: Dexterous Piano Playing with Deep Reinforcement Learning.

Kevin Zakka, Philipp Wu, Laura M. Smith, Nimrod Gileadi, Taylor Howell, Xue Bin Peng, Sumeet Singh, Yuval Tassa, Pete Florence, Andy Zeng, Pieter Abbeel

Proceedings of the Conference on Robot Learning, 2023

CALAMARI: Contact-Aware and Language conditioned spatial Action MApping for contact-RIch manipulation.

Youngsun Wi, Mark Van der Merwe, Pete Florence, Andy Zeng, Nima Fazeli

Proceedings of the Conference on Robot Learning, 2023

Robots That Ask For Help: Uncertainty Alignment for Large Language Model Planners.

Allen Z. Ren, Anushri Dixit, Alexandra Bodrova, Sumeet Singh, Stephen Tu, Noah Brown, Peng Xu, Leila Takayama, Fei Xia, Jake Varley, Zhenjia Xu, Dorsa Sadigh, Andy Zeng, Anirudha Majumdar

Proceedings of the Conference on Robot Learning, 2023

Large Language Models as General Pattern Machines.

Suvir Mirchandani, Fei Xia, Pete Florence, Brian Ichter, Danny Driess, Montserrat Gonzalez Arenas, Kanishka Rao, Dorsa Sadigh, Andy Zeng

Proceedings of the Conference on Robot Learning, 2023

Rearrangement Planning for General Part Assembly.

Yulong Li, Andy Zeng, Shuran Song

Proceedings of the Conference on Robot Learning, 2023

Language to Rewards for Robotic Skill Synthesis.

Wenhao Yu, Nimrod Gileadi, Chuyuan Fu, Sean Kirmani, Kuang-Huei Lee, Montserrat Gonzalez Arenas, Hao-Tien Lewis Chiang, Tom Erez, Leonard Hasenclever, Jan Humplik, Brian Ichter, Ted Xiao, Peng Xu, Andy Zeng, Tingnan Zhang, Nicolas Heess, Dorsa Sadigh, Jie Tan, Yuval Tassa, Fei Xia

Proceedings of the Conference on Robot Learning, 2023

Modular Visual Question Answering via Code Generation.

Sanjay Subramanian, Medhini Narasimhan, Kushal Khangaonkar, Kevin Yang, Arsha Nagrani, Cordelia Schmid, Andy Zeng, Trevor Darrell, Dan Klein

Proceedings of the 61st Annual Meeting of the Association for Computational Linguistics (Volume 2: Short Papers), 2023

2022

Learning Pneumatic Non-Prehensile Manipulation With a Mobile Blower.

Jimmy Wu, Xingyuan Sun, Andy Zeng, Shuran Song, Szymon Rusinkiewicz, Thomas A. Funkhouser

IEEE Robotics Autom. Lett., 2022

Robotic pick-and-place of novel objects in clutter with multi-affordance grasping and cross-domain image matching.

Andy Zeng, Shuran Song, Kuan-Ting Yu, Elliott Donlon, Francois Robert Hogan, Maria Bauzá, Daolin Ma, Orion Taylor, Melody Liu, Eudald Romo, Nima Fazeli, Ferran Alet, Nikhil Chavan Dafle, Rachel M. Holladay, Isabella Morona, Prem Qu Nair, Druck Green, Ian H. Taylor, Weber Liu, Thomas A. Funkhouser, Alberto Rodriguez

Int. J. Robotics Res., 2022

Socratic Models: Composing Zero-Shot Multimodal Reasoning with Language.

Andy Zeng, Adrian Wong, Stefan Welker, Krzysztof Choromanski, Federico Tombari, Aveek Purohit, Michael S. Ryoo, Vikas Sindhwani, Johnny Lee, Vincent Vanhoucke, Pete Florence

CoRR, 2022

Multiscale Sensor Fusion and Continuous Control with Neural CDEs.

Sumeet Singh, Francis McCann Ramirez, Jacob Varley, Andy Zeng, Vikas Sindhwani

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2022

Learning to Fold Real Garments with One Arm: A Case Study in Cloud-Based Robotics Research.

Ryan Hoque, Kaushik Shivakumar, Shrey Aeron, Gabriel Deza, Aditya Ganapathi, Adrian Wong, Johnny Lee, Andy Zeng, Vincent Vanhoucke, Ken Goldberg

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2022

VIRDO: Visio-tactile Implicit Representations of Deformable Objects.

Youngsun Wi, Pete Florence, Andy Zeng, Nima Fazeli

Proceedings of the 2022 International Conference on Robotics and Automation, 2022

Multi-Task Learning with Sequence-Conditioned Transporter Networks.

Michael H. Lim, Andy Zeng, Brian Ichter, Maryam Bandari, Erwin Coumans, Claire J. Tomlin, Stefan Schaal, Aleksandra Faust

Proceedings of the 2022 International Conference on Robotics and Automation, 2022

Implicit Kinematic Policies: Unifying Joint and Cartesian Action Spaces in End-to-End Robot Learning.

Aditya Ganapathi, Pete Florence, Jake Varley, Kaylee Burns, Ken Goldberg, Andy Zeng

Proceedings of the 2022 International Conference on Robotics and Automation, 2022

Hybrid Random Features.

Krzysztof Marcin Choromanski, Han Lin, Haoxian Chen, Arijit Sehanobish, Yuanzhe Ma, Deepali Jain, Jake Varley, Andy Zeng, Michael S. Ryoo, Valerii Likhosherstov, Dmitry Kalashnikov, Vikas Sindhwani, Adrian Weller

Proceedings of the Tenth International Conference on Learning Representations, 2022

VIRDO++: Real-World, Visuo-tactile Dynamics and Perception of Deformable Objects.

Youngsun Wi, Andy Zeng, Pete Florence, Nima Fazeli

Proceedings of the Conference on Robot Learning, 2022

MIRA: Mental Imagery for Robotic Affordances.

Yen-Chen Lin, Pete Florence, Andy Zeng, Jonathan T. Barron, Yilun Du, Wei-Chiu Ma, Anthony Simeonov, Alberto Rodriguez Garcia, Phillip Isola

Proceedings of the Conference on Robot Learning, 2022

Do As I Can, Not As I Say: Grounding Language in Robotic Affordances.

Brian Ichter, Anthony Brohan, Yevgen Chebotar, Chelsea Finn, Karol Hausman, Alexander Herzog, Daniel Ho, Julian Ibarz, Alex Irpan, Eric Jang, Ryan Julian, Dmitry Kalashnikov, Sergey Levine, Yao Lu, Carolina Parada, Kanishka Rao, Pierre Sermanet, Alexander Toshev, Vincent Vanhoucke, Fei Xia, Ted Xiao, Peng Xu, Mengyuan Yan, Noah Brown, Michael Ahn, Omar Cortes, Nicolas Sievers, Clayton Tan, Sichun Xu, Diego Reyes, Jarek Rettinghouse, Jornell Quiambao, Peter Pastor, Linda Luu, Kuang-Huei Lee, Yuheng Kuang, Sally Jesmonth, Nikhil J. Joshi, Kyle Jeffrey, Rosario Jauregui Ruano, Jasmine Hsu, Keerthana Gopalakrishnan, Byron David, Andy Zeng, Chuyuan Kelly Fu

Proceedings of the Conference on Robot Learning, 2022

Inner Monologue: Embodied Reasoning through Planning with Language Models.

Wenlong Huang, Fei Xia, Ted Xiao, Harris Chan, Jacky Liang, Pete Florence, Andy Zeng, Jonathan Tompson, Igor Mordatch, Yevgen Chebotar, Pierre Sermanet, Tomas Jackson, Noah Brown, Linda Luu, Sergey Levine, Karol Hausman, Brian Ichter

Proceedings of the Conference on Robot Learning, 2022

2021

Spatial Intention Maps for Multi-Agent Mobile Manipulation.

Jimmy Wu, Xingyuan Sun, Andy Zeng, Shuran Song, Szymon Rusinkiewicz, Thomas A. Funkhouser

Proceedings of the IEEE International Conference on Robotics and Automation, 2021

Learning to Rearrange Deformable Cables, Fabrics, and Bags with Goal-Conditioned Transporter Networks.

Daniel Seita, Pete Florence, Jonathan Tompson, Erwin Coumans, Vikas Sindhwani, Ken Goldberg, Andy Zeng

Proceedings of the IEEE International Conference on Robotics and Automation, 2021

Reward Machines for Vision-Based Robotic Manipulation.

Alberto Camacho, Jacob Varley, Andy Zeng, Deepali Jain, Atil Iscen, Dmitry Kalashnikov

Proceedings of the IEEE International Conference on Robotics and Automation, 2021

XIRL: Cross-embodiment Inverse Reinforcement Learning.

Kevin Zakka, Andy Zeng, Pete Florence, Jonathan Tompson, Jeannette Bohg, Debidatta Dwibedi

Proceedings of the Conference on Robot Learning, 8-11 November 2021, London, UK., 2021

Implicit Behavioral Cloning.

Pete Florence, Corey Lynch, Andy Zeng, Oscar A. Ramirez, Ayzaan Wahid, Laura Downs, Adrian Wong, Johnny Lee, Igor Mordatch, Jonathan Tompson

Proceedings of the Conference on Robot Learning, 8-11 November 2021, London, UK., 2021

2020

TossingBot: Learning to Throw Arbitrary Objects With Residual Physics.

Andy Zeng, Shuran Song, Johnny Lee, Alberto Rodriguez, Thomas A. Funkhouser

IEEE Trans. Robotics, 2020

Grasping in the Wild: Learning 6DoF Closed-Loop Grasping From Low-Cost Demonstrations.

Shuran Song, Andy Zeng, Johnny Lee, Thomas A. Funkhouser

IEEE Robotics Autom. Lett., 2020

What are the important technologies for bin picking? Technology analysis of robots in competitions based on a set of performance metrics.

Masahiro Fujita, Yukiyasu Domae, Akio Noda, Gustavo Alfonso Garcia Ricardez, Tatsuya Nagatani, Andy Zeng, Shuran Song, Alberto Rodriguez, Albert J. Causo, I-Ming Chen, Tsukasa Ogasawara

Adv. Robotics, 2020

Spatial Action Maps for Mobile Manipulation.

Jimmy Wu, Xingyuan Sun, Andy Zeng, Shuran Song, Johnny Lee, Szymon Rusinkiewicz, Thomas A. Funkhouser

Proceedings of the Robotics: Science and Systems XVI, 2020

Form2Fit: Learning Shape Priors for Generalizable Assembly from Disassembly.

Kevin Zakka, Andy Zeng, Johnny Lee, Shuran Song

Proceedings of the 2020 IEEE International Conference on Robotics and Automation, 2020

Clear Grasp: 3D Shape Estimation of Transparent Objects for Manipulation.

Shreeyak S. Sajjan, Matthew Moore, Mike Pan, Ganesh Nagaraja, Johnny Lee, Andy Zeng, Shuran Song

Proceedings of the 2020 IEEE International Conference on Robotics and Automation, 2020

Learning to See before Learning to Act: Visual Pre-training for Manipulation.

Yen-Chen Lin, Andy Zeng, Shuran Song, Phillip Isola, Tsung-Yi Lin

Proceedings of the 2020 IEEE International Conference on Robotics and Automation, 2020

Transporter Networks: Rearranging the Visual World for Robotic Manipulation.

Andy Zeng, Pete Florence, Jonathan Tompson, Stefan Welker, Jonathan Chien, Maria Attarian, Travis Armstrong, Ivan Krasin, Dan Duong, Vikas Sindhwani, Johnny Lee

Proceedings of the 4th Conference on Robot Learning, 2020

2019

Learning Visual Affordances for Robotic Manipulation

Andy Zeng

PhD thesis, 2019

ClearGrasp: 3D Shape Estimation of Transparent Objects for Manipulation.

Shreeyak S. Sajjan, Matthew Moore, Mike Pan, Ganesh Nagaraja, Johnny Lee, Andy Zeng, Shuran Song

CoRR, 2019

DensePhysNet: Learning Dense Physical Object Representations Via Multi-Step Dynamic Interactions.

Zhenjia Xu, Jiajun Wu, Andy Zeng, Joshua B. Tenenbaum, Shuran Song

Proceedings of the Robotics: Science and Systems XV, 2019

2018

Learning Synergies Between Pushing and Grasping with Self-Supervised Deep Reinforcement Learning.

Andy Zeng, Shuran Song, Stefan Welker, Johnny Lee, Alberto Rodriguez, Thomas A. Funkhouser

Proceedings of the 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2018

Im2Pano3D: Extrapolating 360° Structure and Semantics Beyond the Field of View.

Shuran Song, Andy Zeng, Angel X. Chang, Manolis Savva, Silvio Savarese, Thomas A. Funkhouser

Proceedings of the 2018 IEEE Conference on Computer Vision and Pattern Recognition, 2018

2017

Multi-view self-supervised deep learning for 6D pose estimation in the Amazon Picking Challenge.

Andy Zeng, Kuan-Ting Yu, Shuran Song, Daniel Suo, Ed Walker Jr., Alberto Rodriguez, Jianxiong Xiao

Proceedings of the 2017 IEEE International Conference on Robotics and Automation, 2017

3DMatch: Learning Local Geometric Descriptors from RGB-D Reconstructions.

Andy Zeng, Shuran Song, Matthias Nießner, Matthew Fisher, Jianxiong Xiao, Thomas A. Funkhouser

Proceedings of the 2017 IEEE Conference on Computer Vision and Pattern Recognition, 2017

Semantic Scene Completion from a Single Depth Image.

Shuran Song, Fisher Yu, Andy Zeng, Angel X. Chang, Manolis Savva, Thomas A. Funkhouser

Proceedings of the 2017 IEEE Conference on Computer Vision and Pattern Recognition, 2017

Matterport3D: Learning from RGB-D Data in Indoor Environments.

Angel X. Chang, Angela Dai, Thomas A. Funkhouser, Maciej Halber, Matthias Nießner, Manolis Savva, Shuran Song, Andy Zeng, Yinda Zhang

Proceedings of the 2017 International Conference on 3D Vision, 2017

2016

3DMatch: Learning the Matching of Local 3D Geometry in Range Scans.

Andy Zeng, Shuran Song, Matthias Nießner, Matthew Fisher, Jianxiong Xiao

CoRR, 2016

2015

Face Alignment Refinement.

Andy Zeng, Vishnu Naresh Boddeti, Kris M. Kitani, Takeo Kanade

Proceedings of the 2015 IEEE Winter Conference on Applications of Computer Vision, 2015