2026 arXiv Preprint

WARP-RM: A Warp-Augmented Relative Progress Reward Model for Data Curation

Justin Yu*, Andrew Goldberg*, Kavish Kondap*, Karim El-Refai*, Ethan Ransing, Qianzhong Chen, Mac Schwager, Yide Shentu, Philipp Wu, Ken Goldberg

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2026 arXiv Preprint

Scalable Behavior Cloning with Open Data, Training, and Evaluation

Arthur Allshire*, Himanshu Gaurav Singh*, Ritvik Singh*, Adam Rashid*, Hongsuk Choi*, David McAllister*, Justin Yu, Yiyuan Chen, Huang Huang, Pieter Abbeel, Xi Chen, Rocky Duan, Phillip Isola, Jitendra Malik, Fred Shentu, Guanya Shi, Philipp Wu, Angjoo Kanazawa

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2026 arXiv Preprint

SARM2: Multi-Task Stage Aware Reward Modeling for Self Improving Robotic Manipulation

Qianzhong Chen, Hau Zheng, Justin Yu, Suning Huang, Jiankai Sun, Ken Goldberg, Chuan Wen, Pieter Abbeel, Yide Shentu, Philipp Wu, Mac Schwager

Paper Website Code (SARM2) Code (SPIRAL)
2026 arXiv Preprint

GaP: A Graph-as-Policy Multi-Agent Self-Learning Harness for Variational Automation Tasks

Kaiyuan Chen*, Shuangyu Xie*, Letian Fu, Justin Yu, William Pacini, Sandeep Bajamahal, Hudson Kim, Jaimyn Drake, Daehwa Kim, Haoru Xue, Jonathan Francis, Christian Juette, Peter Schaldenbrand, Muhammet Yunus Seker, Ruwan Wickramarachchi, Uksang Yoo, Guanzhi Wang, Adithyavairavan Murali, Balakumar Sundaralingam, S. Shankar Sastry, Spencer Huang, Yuke Zhu, Linxi "Jim" Fan, Ken Goldberg

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2026 arXiv Preprint

Playful Agentic Robot Learning

Junyi Zhang*, Jiaxin Ge*, Hanjun Yoo, Letian Fu, Zihan Yang, Yaowei Liu, Raj Saravanan, Shaofeng Yin, Justin Yu, Dantong Niu, Zirui Wang, Roei Herzig, Ken Goldberg, Yutong Bai, David M. Chan, Ion Stoica, Angjoo Kanazawa, Jiahui Lei, Haiwen Feng, Trevor Darrell

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ICML 2026 · Seoul

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

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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

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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

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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

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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

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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

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CoRL 2021 · London

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

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

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