ICML 2026 Under Review

CaP-X: A Framework for Benchmarking and Improving Coding Agents for Robot Manipulation

Letian Fu*, Justin Yu*, Karim El-Refai*, Ethan Kou*, Haoru Xue*, Huang Huang, Wenli Xiao, Guanzhi Wang, Fei Fei Li, Guanya Shi, Jiajun Wu, Shankar Sastry, Yuke Zhu, Ken Goldberg, Linxi "Jim" Fan

Paper Website
ICRA 2026 · Vienna

EgoMI: Learning Active Vision and Whole-Body Manipulation from Egocentric Human Demonstrations

Justin Yu*, Yide Shentu*, Di Wu, Pieter Abbeel, Ken Goldberg, Philipp Wu

Paper Website
ICLR 2026 · Rio de Janeiro

SARM: Stage-Aware Reward Modeling for Long Horizon Robot Manipulation

Qianzhong Chen, Justin Yu, Mac Schwager, Pieter Abbeel, Yide Shentu, Philipp Wu

Paper Website
CoRL 2025 · Seoul Oral

Real2Render2Real: Scaling Robot Data Without Dynamics Simulation or Robot Hardware

Justin Yu*, Letian Fu*, Huang Huang, Karim El-Refai, Rares Ambrus, Richard Cheng, Muhammad Zubair Irshad, Ken Goldberg

Paper Website
ICRA 2025 · Atlanta Oral

POGS: Persistent Object Gaussian Splat for Tracking Human and Robot Manipulation of Irregularly Shaped Objects

Justin Yu*, Kush Hari*, Karim El-Refai*, Arnav Dalal, Justin Kerr, Chung Min Kim, Richard Cheng, Muhammad Zubair Irshad, Ken Goldberg

Paper Website
IROS 2024 · Abu Dhabi Oral

LEGS: Incrementally Building Room-Scale Language-Embedded Gaussian Splats with a Mobile Robot

Justin Yu*, Kush Hari*, Kishore Srinivas*, Karim El-Refai, Adam Rashid, Chung Min Kim, Justin Kerr, Richard Cheng, Muhammad Zubair Irshad, Ashwin Balakrishna, Thomas Kollar, Ken Goldberg

Paper Website
MANIP
IROS 2024 · Abu Dhabi

MANIP: Integrating Interactive Perception into Long-Horizon Robot Manipulation Systems

Justin Yu*, Tara Sadjadpour*, Abby O'Neill, Mehdi Khfifi, Lawrence Yunliang Chen, Richard Cheng, Muhammad Zubair Irshad, Ashwin Balakrishna, Thomas Kollar, Ken Goldberg

Paper Website
CoRL 2021 · London

Legged Robot State Estimation using Invariant Kalman Filtering and Learned Contact Events

Tzu-Yuan Lin, Ray Zhang, Justin Yu, Maani Ghaffari

arXiv arXiv Video