Zipeng Fu

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I am a final-year PhD researcher in computer science at Stanford AI Lab, advised by Chelsea Finn. I was a researcher at Google DeepMind, working with Jie Tan. My research is supported by Pierre and Christine Lamond Fellowship.

Previously, I was a master's student in the Machine Learning Department and a student researcher in the Robotics Institute at CMU, advised by Deepak Pathak and Jitendra Malik. I completed my bachelor's in Computer Science and Applied Math at UCLA, advised by Song-Chun Zhu.

My research interests lie in the intersection of Robotics, Machine Learning and Computer Vision. I care about robust robot performance and deployable robot systems in the unstructured open world.


  Publications

HumanPlus: Humanoid Shadowing and Imitation from Humans
Zipeng Fu*, Qingqing Zhao*, Qi Wu*, Gordon Wetzstein, Chelsea Finn
CoRL 2024
Best Paper Award Finalist (top 6)

webpage | pdf | abstract | bibtex | arXiv | code | video

@inproceedings{fu2024humanplus,
  author    = {Fu, Zipeng and Zhao, Qingqing 
    and Wu, Qi and Wetzstein, Gordon 
    and Finn, Chelsea},
  title     = {HumanPlus: Humanoid Shadowing 
    and Imitation from Humans},
  booktitle = {Conference on Robot Learning ({CoRL})},
  year = {2024}
}

Mobile ALOHA: Learning Bimanual Mobile Manipulation with Low-Cost Whole-Body Teleoperation
Zipeng Fu*, Tony Z. Zhao*, Chelsea Finn
CoRL 2024

webpage | pdf | abstract | bibtex | arXiv | code | video

@inproceedings{fu2024mobile,
  author = {Fu, Zipeng and 
          Zhao, Tony Z. and Finn, Chelsea},
  title = {Mobile ALOHA: Learning Bimanual Mobile Manipulation
    with Low-Cost Whole-Body Teleoperation},
  booktitle = {Conference on Robot Learning ({CoRL})},
  year = {2024}
}

Media Coverage: The Economist | MIT Technology Review | TechCrunch | The Economic Times | SCMP | Chosun Ilbo | CGTN | CNet | Stanford Report | VentureBeat

Mobility VLA: Multimodal Instruction Navigation with Long-Context VLMs and Topological Graphs
Hao-Tien Lewis Chiang*, Zhuo Xu*, Zipeng Fu*, Mithun George Jacob, Tingnan Zhang, Tsang-Wei Edward Lee, Wenhao Yu, Connor Schenck, David Rendleman, Dhruv Shah, Fei Xia, Jasmine Hsu, Jonathan Hoech, Pete Florence, Sean Kirmani, Sumeet Singh, Vikas Sindhwani, Carolina Parada*, Chelsea Finn*, Peng Xu*, Sergey Levine*, Jie Tan*
CoRL 2024

pdf | abstract | arXiv | video

UMI on Legs: Making Manipulation Policies Mobile with Manipulation-Centric Whole-body Controllers
Huy Ha*, Yihuai Gao*, Zipeng Fu, Jie Tan, Shuran Song
CoRL 2024

webpage | pdf | abstract | arXiv | code | video

Open X-Embodiment: Robotic Learning Datasets and RT-X Models
Open X-Embodiment Collaboration led by Google DeepMind
ICRA 2024
Best Paper Award

webpage | pdf | abstract | arXiv | code | blog

Robot Parkour Learning
Ziwen Zhuang*, Zipeng Fu*, Jianren Wang, Chris Atkeson, Sören Schwertfeger, Chelsea Finn, Hang Zhao
CoRL 2023 (Oral)
Best Systems Paper Award Finalist (top 3)

webpage | pdf | abstract | bibtex | arXiv | code | video

@inproceedings{zhuang2023robot,
  author = {Zhuang, Ziwen and Fu, Zipeng and 
          Wang, Jianren and Atkeson, Christopher and 
          Schwertfeger, Sören and Finn, Chelsea and
          Zhao, Hang},
  title = {Robot Parkour Learning},
  booktitle = {Conference on Robot Learning ({CoRL})},
  year = {2023}
}

Deep Whole-Body Control: Learning a Unified Policy for Manipulation and Locomotion
Zipeng Fu*, Xuxin Cheng*, Deepak Pathak
CoRL 2022 (Oral)
Best Systems Paper Award Finalist (top 4)

webpage | pdf | abstract | bibtex | arXiv | OpenReview | video

@inproceedings{fu2022deep,
  author = {Fu, Zipeng and Cheng, Xuxin and 
            Pathak, Deepak},
  title = {Deep Whole-Body Control: Learning a Unified Policy
           for Manipulation and Locomotion},
  booktitle = {Conference on Robot Learning ({CoRL})},
  year = {2022}
}

Coupling Vision and Proprioception for Navigation of Legged Robots
Zipeng Fu*, Ashish Kumar*, Ananye Agarwal, Haozhi Qi, Jitendra Malik, Deepak Pathak
CVPR 2022
Best Paper at Multimodal Learning Workshop

Minimizing Energy Consumption Leads to the Emergence of Gaits in Legged Robots
Zipeng Fu, Ashish Kumar, Jitendra Malik, Deepak Pathak
CoRL 2021

webpage | pdf | abstract | bibtex | arXiv | OpenReview | video

@inproceedings{fu2021minimizing,
  author = {Fu, Zipeng and Kumar, Ashish and Malik, Jitendra and Pathak, Deepak},
  title = {Minimizing Energy Consumption Leads to the Emergence of Gaits in Legged Robots},
  booktitle = {Conference on Robot Learning (CoRL)},
  year = {2021}
}

RMA: Rapid Motor Adaptation for Legged Robots
Ashish Kumar, Zipeng Fu, Deepak Pathak, Jitendra Malik
RSS 2021

webpage | pdf | abstract | bibtex | arXiv | video

@inproceedings{kumar2021rma,
  author = {Kumar, Ashish and Fu, Zipeng and Pathak, Deepak and Malik, Jitendra},
  title  = {RMA: Rapid Motor Adaptation for Legged Robots},
  booktitle = {Robotics: Science and Systems (RSS)},
  year   = {2021}
}

Media Coverage: Facebook AI | Wall Street Journal | TechCrunch | Forbes | Washington Post | DARPA | CNet | Synced Review | UC Berkeley | CMU

sym

Emergence of Theory of Mind Collaboration in Multiagent Systems
Luyao Yuan, Zipeng Fu, Linqi Zhou, Kexin Yang, Song-Chun Zhu
Emergent Communication Workshop
NeurIPS 2019

pdf | abstract | bibtex | arXiv | code

@article{yuan2019emergencecollaboration,
  author = {Yuan, Luyao and Fu, Zipeng and Zhou, Linqi and Yang, Kexin and Zhu, Song-Chun},
  journal= {Emergent Communication Workshop at NeurIPS},
  year   = {2019}
}
sym

Emergence of Pragmatics from Referential Game between Theory of Mind Agents
Luyao Yuan, Zipeng Fu, Jingyue Shen, Lu Xu, Junhong Shen, Song-Chun Zhu
Emergent Communication Workshop
NeurIPS 2019

pdf | abstract | bibtex | arXiv | code

@article{yuan2019emergencepragmatics,
  author = {Yuan, Luyao and Fu, Zipeng and Shen, Jingyue and Xu, Lu and Shen, Junhong and Zhu, Song-Chun},
  journal= {Emergent Communication Workshop at NeurIPS},
  year   = {2019}
}
sym

Unsupervised Incremental Structure Learning of Stochastic And-Or Grammars with Monte Carlo Tree Search
Luyao Yuan, Jingyue Shen, Zipeng Fu, Song-Chun Zhu
Preprint 2019

pdf | abstract | bibtex | code (And-Or-Graph Learning Library)

@article{yuan2019stochastic,
  author = {Yuan, Luyao and Shen, Jingyue and Fu, Zipeng and Zhu, Song-Chun},
  journal= {Preprint},
  year   = {2019}
}
sym

Machine Learning for Glass Science and Engineering: A Review
Han Liu, Zipeng Fu, Kai Yang, Xinyi Xu, Mathieu Bauchy
Journal of Non-Crystalline Solids 2019

pdf | abstract | bibtex

@article{liu2019machine,
  author = {Liu, Han and Fu, Zipeng and Yang, Kai and Xu, Xinyi and Bauchy, Mathieu},
  journal= {Journal of Non-Crystalline Solids},
  year   = {2019}
}
sym

Adversarial Attack Against Scene Recognition System for Unmanned Vehicles
Xuankai Wang, Mi Wen, Jinguo Li, Zipeng Fu and Rongxing Lu
ACM TURC 2019

pdf | abstract | bibtex

@article{wang2019adversarial,
  author = {Wang, Xuankai and Li, Jinguo and Fu, Zipeng and Lu, Rongxing},
  journal= {ACM TURC},
  year   = {2019}
}
sym

Energy Theft Detection With Energy Privacy Preservation in the Smart Grid
Donghuan Yao, Mi Wen, Xiaohui Liang, Zipeng Fu, Kai Zhang, Baojia Yang
IEEE IoT Journal 2019

pdf | abstract | bibtex

@article{yao2019energy,
  author = {Yao, Donghuan and Liang, Xiaohui and Fu, Zipeng and Zhang, Kai and Yang, Baojia},
  journal= {IEEE Internet of Things Journal},
  year   = {2019}
}


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