Jiafei Duan

51 papers A* 5B 2Misc 3Journal 36Unranked 5
YearRankTypeTitle / Venue / Authors
2026 J jnl
MolmoB0T: Large-Scale Simulation Enables Zero-Shot Manipulation.
CoRR
Abhay Deshpande, Maya Guru, Rose Hendrix, Snehal Jauhri, Ainaz Eftekhar, Rohun Tripathi, Max Argus, Jordi Salvador, Haoquan Fang, Matthew Wallingford, Wilbert Pumacay, Yejin Kim, Quinn Pfeifer, Ying-Chun Lee, Piper Wolters, Omar Rayyan, Mingtong Zhang, Jiafei Duan, Karen Farley, Winson Han, Eli VanderBilt, Dieter Fox, Ali Farhadi, Georgia Chalvatzaki, Dhruv Shah, Ranjay Krishna
2026 J jnl
MolmoSpaces: A Large-Scale Open Ecosystem for Robot Navigation and Manipulation.
CoRR
Yejin Kim, Wilbert Pumacay, Omar Rayyan, Max Argus, Winson Han, Eli VanderBilt, Jordi Salvador, Abhay Deshpande, Rose Hendrix, Snehal Jauhri, Shuo Liu, Nur Muhammad (Mahi) Shafiullah, Maya Guru, Ainaz Eftekhar, Karen Farley, Donovan Clay, Jiafei Duan, Arjun Guru, Piper Wolters, Alvaro Herrasti, Ying-Chun Lee, Georgia Chalvatzaki, Yuchen Cui, Ali Farhadi, Dieter Fox, Ranjay Krishna
2026 J jnl
Recurrent-Depth VLA: Implicit Test-Time Compute Scaling of Vision-Language-Action Models via Latent Iterative Reasoning.
CoRR
Yalcin Tur, Jalal Naghiyev, Haoquan Fang, Wei-Chuan Tsai, Jiafei Duan, Dieter Fox, Ranjay Krishna
2026 J jnl
TOPReward: Token Probabilities as Hidden Zero-Shot Rewards for Robotics.
CoRR
Shirui Chen, Cole Harrison, Ying-Chun Lee, Angela Jin Yang, Zhongzheng Ren, Lillian J. Ratliff, Jiafei Duan, Dieter Fox, Ranjay Krishna
2026 J jnl
VLS: Steering Pretrained Robot Policies via Vision-Language Models.
CoRR
Shuo Liu, Ishneet Sukhvinder Singh, Yiqing Xu, Jiafei Duan, Ranjay Krishna
2025 A* conf
AHA: A Vision-Language-Model for Detecting and Reasoning Over Failures in Robotic Manipulation.
ICLR
Jiafei Duan, Wilbert Pumacay, Nishanth Kumar, Yi Ru Wang, Shulin Tian, Wentao Yuan, Ranjay Krishna, Dieter Fox, Ajay Mandlekar, Yijie Guo
2025 J jnl
FailSafe: Reasoning and Recovery from Failures in Vision-Language-Action Models.
CoRR
Zijun Lin, Jiafei Duan, Haoquan Fang, Dieter Fox, Ranjay Krishna, Cheston Tan, Bihan Wen
2025 J jnl
GraspMolmo: Generalizable Task-Oriented Grasping via Large-Scale Synthetic Data Generation.
CoRR
Abhay Deshpande, Yuquan Deng, Arijit Ray, Jordi Salvador, Winson Han, Jiafei Duan, Kuo-Hao Zeng, Yuke Zhu, Ranjay Krishna, Rose Hendrix
2025 J jnl
MolmoAct: Action Reasoning Models that can Reason in Space.
CoRR
Jason Lee, Jiafei Duan, Haoquan Fang, Yuquan Deng, Shuo Liu, Boyang Li, Bohan Fang, Jieyu Zhang, Yi Ru Wang, Sangho Lee, Winson Han, Wilbert Pumacay, Angelica Wu, Rose Hendrix, Karen Farley, Eli VanderBilt, Ali Farhadi, Dieter Fox, Ranjay Krishna
2025 J jnl
PointArena: Probing Multimodal Grounding Through Language-Guided Pointing.
CoRR
Long Cheng, Jiafei Duan, Yi Ru Wang, Haoquan Fang, Boyang Li, Yushan Huang, Elvis Wang, Ainaz Eftekhar, Jason Lee, Wentao Yuan, Rose Hendrix, Noah A. Smith, Fei Xia, Dieter Fox, Ranjay Krishna
2025 J jnl
RoboCade: Gamifying Robot Data Collection.
CoRR
Suvir Mirchandani, Mia Tang, Jiafei Duan, Jubayer Ibn Hamid, Michael Cho, Dorsa Sadigh
2025 J jnl
RoboEval: Where Robotic Manipulation Meets Structured and Scalable Evaluation.
CoRR
Yi Ru Wang, Carter Ung, Grant Tannert, Jiafei Duan, Josephine Li, Amy Le, Rishabh Oswal, Markus Grotz, Wilbert Pumacay, Yuquan Deng, Ranjay Krishna, Dieter Fox, Siddhartha S. Srinivasa
2025 A* conf
SAM2Act: Integrating Visual Foundation Model with A Memory Architecture for Robotic Manipulation.
ICML
Haoquan Fang, Markus Grotz, Wilbert Pumacay, Yi Ru Wang, Dieter Fox, Ranjay Krishna, Jiafei Duan
2025 J jnl
SAM2Act: Integrating Visual Foundation Model with A Memory Architecture for Robotic Manipulation.
CoRR
Haoquan Fang, Markus Grotz, Wilbert Pumacay, Yi Ru Wang, Dieter Fox, Ranjay Krishna, Jiafei Duan
2024 J jnl
AHA: A Vision-Language-Model for Detecting and Reasoning Over Failures in Robotic Manipulation.
CoRR
Jiafei Duan, Wilbert Pumacay, Nishanth Kumar, Yi Ru Wang, Shulin Tian, Wentao Yuan, Ranjay Krishna, Dieter Fox, Ajay Mandlekar, Yijie Guo
2024 J jnl
EVE: Enabling Anyone to Train Robot using Augmented Reality.
CoRR
Jun Wang, Chun-Cheng Chang, Jiafei Duan, Dieter Fox, Ranjay Krishna
2024 A* conf
EVE: Enabling Anyone to Train Robots using Augmented Reality.
UIST
Jun Wang, Chun-Cheng Chang, Jiafei Duan, Dieter Fox, Ranjay Krishna
2024 Misc conf
Manipulate-Anything: Automating Real-World Robots using Vision-Language Models.
CoRL
Jiafei Duan, Wentao Yuan, Wilbert Pumacay, Yi Ru Wang, Kiana Ehsani, Dieter Fox, Ranjay Krishna
2024 J jnl
Manipulate-Anything: Automating Real-World Robots using Vision-Language Models.
CoRR
Jiafei Duan, Wentao Yuan, Wilbert Pumacay, Yi Ru Wang, Kiana Ehsani, Dieter Fox, Ranjay Krishna
2024 — conf
Octopi: Object Property Reasoning with Large Tactile-Language Models.
Robotics: Science and Systems
Samson Yu, Kelvin Lin, Anxing Xiao, Jiafei Duan, Harold Soh
2024 J jnl
Octopi: Object Property Reasoning with Large Tactile-Language Models.
CoRR
Samson Yu, Kelvin Lin, Anxing Xiao, Jiafei Duan, Harold Soh
2024 J jnl
RoboPoint: A Vision-Language Model for Spatial Affordance Prediction for Robotics.
CoRR
Wentao Yuan, Jiafei Duan, Valts Blukis, Wilbert Pumacay, Ranjay Krishna, Adithyavairavan Murali, Arsalan Mousavian, Dieter Fox
2024 Misc conf
RoboPoint: A Vision-Language Model for Spatial Affordance Prediction in Robotics.
CoRL
Wentao Yuan, Jiafei Duan, Valts Blukis, Wilbert Pumacay, Ranjay Krishna, Adithyavairavan Murali, Arsalan Mousavian, Dieter Fox
2024 J jnl
SAT: Spatial Aptitude Training for Multimodal Language Models.
CoRR
Arijit Ray, Jiafei Duan, Reuben Tan, Dina Bashkirova, Rose Hendrix, Kiana Ehsani, Aniruddha Kembhavi, Bryan A. Plummer, Ranjay Krishna, Kuo-Hao Zeng, Kate Saenko
2024 A* conf
Selective Visual Representations Improve Convergence and Generalization for Embodied AI.
ICLR
Ainaz Eftekhar, Kuo-Hao Zeng, Jiafei Duan, Ali Farhadi, Aniruddha Kembhavi, Ranjay Krishna
2024 — conf
THE COLOSSEUM: A Benchmark for Evaluating Generalization for Robotic Manipulation.
Robotics: Science and Systems
Wilbert Pumacay, Ishika Singh, Jiafei Duan, Ranjay Krishna, Jesse Thomason, Dieter Fox
2024 J jnl
THE COLOSSEUM: A Benchmark for Evaluating Generalization for Robotic Manipulation.
CoRR
Wilbert Pumacay, Ishika Singh, Jiafei Duan, Ranjay Krishna, Jesse Thomason, Dieter Fox
2023 B conf
A Benchmark for Modeling Violation-of-Expectation in Physical Reasoning Across Event Categories.
CogSci
Arijit Dasgupta, Jiafei Duan, Yi Lin, Su-Hua Wang, Renée Baillargeon, Cheston Tan
2023 J jnl
A Study of Comfortability between Interactive AI and Human.
CoRR
Yi Ru Wang, Jiafei Duan, Sidharth Talia, Hao Zhu
2023 Misc conf
AR2-D2: Training a Robot Without a Robot.
CoRL
Jiafei Duan, Yi Ru Wang, Mohit Shridhar, Dieter Fox, Ranjay Krishna
2023 J jnl
AR2-D2: Training a Robot Without a Robot.
CoRR
Jiafei Duan, Yi Ru Wang, Mohit Shridhar, Dieter Fox, Ranjay Krishna
2023 — conf
NEWTON: Are Large Language Models Capable of Physical Reasoning?
EMNLP (Findings)
Yi Ru Wang, Jiafei Duan, Dieter Fox, Siddhartha S. Srinivasa
2023 J jnl
NEWTON: Are Large Language Models Capable of Physical Reasoning?
CoRR
Yi Ru Wang, Jiafei Duan, Dieter Fox, Siddhartha S. Srinivasa
2023 J jnl
Read My Mind: A Multi-Modal Dataset for Human Belief Prediction.
CoRR
Jiafei Duan, Samson Yu, Nicholas Tan, Yi Ru Wang, Cheston Tan
2023 J jnl
Robustness of Utilizing Feedback in Embodied Visual Navigation.
CoRR
Jenny Zhang, Samson Yu, Jiafei Duan, Cheston Tan
2023 J jnl
Selective Visual Representations Improve Convergence and Generalization for Embodied AI.
CoRR
Ainaz Eftekhar, Kuo-Hao Zeng, Jiafei Duan, Ali Farhadi, Aniruddha Kembhavi, Ranjay Krishna
2022 J jnl
A Survey of Embodied AI: From Simulators to Research Tasks.
IEEE Trans. Emerg. Top. Comput. Intell.
Jiafei Duan, Samson Yu, Hui Li Tan, Hongyuan Zhu, Cheston Tan
2022 A* conf
A Survey on Machine Learning Approaches for Modelling Intuitive Physics.
IJCAI
Jiafei Duan, Arijit Dasgupta, Jason Fischer, Cheston Tan
2022 J jnl
A Survey on Machine Learning Approaches for Modelling Intuitive Physics.
CoRR
Jiafei Duan, Arijit Dasgupta, Jason Fischer, Cheston Tan
2022 J jnl
ABCDE: An Agent-Based Cognitive Development Environment.
CoRR
Jieyi Ye, Jiafei Duan, Samson Yu, Bihan Wen, Cheston Tan
2022 J jnl
BOSS: A Benchmark for Human Belief Prediction in Object-context Scenarios.
CoRR
Jiafei Duan, Samson Yu, Nicholas Tan, Li Yi, Cheston Tan
2022 J jnl
Good Time to Ask: A Learning Framework for Asking for Help in Embodied Visual Navigation.
CoRR
Jenny Zhang, Samson Yu, Jiafei Duan, Cheston Tan
2022 — conf
PIP: Physical Interaction Prediction via Mental Simulation with Span Selection.
ECCV (35)
Jiafei Duan, Samson Yu, Soujanya Poria, Bihan Wen, Cheston Tan
2021 J jnl
A Benchmark for Modeling Violation-of-Expectation in Physical Reasoning Across Event Categories.
CoRR
Arijit Dasgupta, Jiafei Duan, Marcelo H. Ang Jr., Yi Lin, Su-Hua Wang, Renée Baillargeon, Cheston Tan
2021 J jnl
A Survey of Embodied AI: From Simulators to Research Tasks.
CoRR
Jiafei Duan, Samson Yu, Hui Li Tan, Hongyuan Zhu, Cheston Tan
2021 J jnl
AVoE: A Synthetic 3D Dataset on Understanding Violation of Expectation for Artificial Cognition.
CoRR
Arijit Dasgupta, Jiafei Duan, Marcelo H. Ang Jr., Cheston Tan
2021 J jnl
PIP: Physical Interaction Prediction via Mental Imagery with Span Selection.
CoRR
Jiafei Duan, Samson Yu, Soujanya Poria, Bihan Wen, Cheston Tan
2021 — conf
SPACE: A Simulator for Physical Interactions and Causal Learning in 3D Environments.
ICCVW
Jiafei Duan, Samson Yu Bai Jian, Cheston Tan
2021 J jnl
SPACE: A Simulator for Physical Interactions and Causal Learning in 3D Environments.
CoRR
Jiafei Duan, Samson Yu Bai Jian, Cheston Tan
2020 B conf
Actionet: An Interactive End-To-End Platform For Task-Based Data Collection And Augmentation In 3D Environment.
ICIP
Jiafei Duan, Samson Yu, Hui Li Tan, Cheston Tan
2020 J jnl
Actionet: An Interactive End-To-End Platform For Task-Based Data Collection And Augmentation In 3D Environment.
CoRR
Jiafei Duan, Samson Yu, Hui Li Tan, Cheston Tan