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Unified Motion-Action Modeling for Heterogeneous Robot Learning
Yunhao Cao*Equal contribution, Shitong Liu*Equal contribution, Chao Feng*Equal contribution, Meryl Zhang, Xuanchen Lu, Andrew Owens, Kuan Fang
arXiv
paperwebsite
bibtex
@misc{cao2026uma,
title = {Unified Motion-Action Modeling for Heterogeneous Robot Learning},
author = {Yunhao Cao and Shitong Liu and Chao Feng and Meryl Zhang and Xuanchen Lu and Andrew Owens and Kuan Fang},
year = {2026},
eprint = {2606.16917},
archivePrefix = {arXiv},
primaryClass = {cs.RO},
url = {https://arxiv.org/abs/2606.16917},
}
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KITE: Decoupling Kinematics and Interaction for Zero-Shot Cross-Embodiment Manipulation
Qianxu Wang, Kuan Fang
arXiv
paperwebsite
bibtex
@misc{wang2026kite,
title = {KITE: Decoupling Kinematics and Interaction for Zero-Shot Cross-Embodiment Manipulation},
author = {Qianxu Wang and Kuan Fang},
year = {2026},
eprint = {2606.22113},
archivePrefix = {arXiv},
primaryClass = {cs.RO},
url = {https://arxiv.org/abs/2606.22113},
}
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Correspondence-Oriented Imitation Learning: Flexible Visuomotor Control with 3D Conditioning
Yunhao Cao, Zubin Bhaumik, Jessie Jia, Xingyi He, Kuan Fang
arXiv
paperwebsite
bibtex
@misc{cao2025coil,
title = {Correspondence-Oriented Imitation Learning: Flexible Visuomotor Control with 3D Conditioning},
author = {Yunhao Cao and Zubin Bhaumik and Jessie Jia and Xingyi He and Kuan Fang},
year = {2025},
eprint = {2512.05953},
archivePrefix = {arXiv},
primaryClass = {cs.RO},
url = {https://arxiv.org/abs/2512.05953},
}
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SAGA: Open-World Mobile Manipulation via Structured Affordance Grounding
Kuan Fang, Yuxin Chen, Xinghao Zhu, Farzad Niroui, Lingfeng Sun, Jiuguang Wang
RA-L 2026
paperwebsite
bibtex
@article{fang2026saga,
title = {SAGA: Open-World Mobile Manipulation via Structured Affordance Grounding},
author = {Kuan Fang and Yuxin Chen and Xinghao Zhu and Farzad Niroui and Lingfeng Sun and Jiuguang Wang},
journal = {RA-L},
year = {2026},
}
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Generate, Transfer, Adapt: Learning Functional Dexterous Grasping from a Single Human Demonstration
Xingyi He, Adhitya Polavaram, Yunhao Cao, Om Deshmukh, Tianrui Wang, Xiaowei Zhou, Kuan Fang
ICRA 2026
paperwebsite
bibtex
@inproceedings{he2026cordex,
title = {Generate, Transfer, Adapt: Learning Functional Dexterous Grasping from a Single Human Demonstration},
author = {Xingyi He and Adhitya Polavaram and Yunhao Cao and Om Deshmukh and Tianrui Wang and Xiaowei Zhou and Kuan Fang},
booktitle = {ICRA},
year = {2026},
}
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Planning-Guided Diffusion Policy Learning for Generalizable Contact-Rich Bimanual Manipulation
Xuanlin Li, Tong Zhao, Xinghao Zhu, Bo Ai, Jiuguang Wang, Tao Pang, Kuan Fang
ICRA 2026
paperwebsite
bibtex
@inproceedings{li2026glide,
title = {Planning-Guided Diffusion Policy Learning for Generalizable Contact-Rich Bimanual Manipulation},
author = {Xuanlin Li and Tong Zhao and Xinghao Zhu and Bo Ai and Jiuguang Wang and Tao Pang and Kuan Fang},
booktitle = {ICRA},
year = {2026},
}
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Should We Learn Contact-Rich Manipulation Policies from Sampling-Based Planners?
Huaijiang Zhu, Tong Zhao, Xinpei Ni, Jiuguang Wang, Kuan Fang, Ludovic Righetti, Tao Pang
RA-L 2025 (Best Paper Award)
papervideo
bibtex
@article{zhu2025sbp_crm,
title = {Should We Learn Contact-Rich Manipulation Policies from Sampling-Based Planners?},
author = {Huaijiang Zhu and Tong Zhao and Xinpei Ni and Jiuguang Wang and Kuan Fang and Ludovic Righetti and Tao Pang},
journal = {RA-L},
year = {2025},
}
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Versatile Loco-Manipulation through Flexible Interlimb Coordination
Xinghao Zhu*Equal contribution, Yuxin Chen*Equal contribution, Lingfeng Sun*Equal contribution, Farzad Niroui, Simon Le Cleac'h, Jiuguang Wang, Kuan Fang
CoRL 2025 (Oral Presentation)
paperwebsite
bibtex
@inproceedings{zhu2025relic,
title = {Versatile Loco-Manipulation through Flexible Interlimb Coordination},
author = {Xinghao Zhu and Yuxin Chen and Lingfeng Sun and Farzad Niroui and Simon Le Cleac'h and Jiuguang Wang and Kuan Fang},
booktitle = {CoRL},
year = {2025},
}
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Temporal Representation Alignment: Emergent Compositionality in Instruction Following with Successor Features
Vivek Myers*Equal contribution, Bill Chunyuan Zheng*Equal contribution, Anca Dragan, Kuan Fang, Sergey Levine
NeurIPS 2025
paperwebsite
bibtex
@inproceedings{myers2025temporal,
title = {Temporal Representation Alignment: Emergent Compositionality in Instruction Following with Successor Features},
author = {Vivek Myers and Bill Chunyuan Zheng and Anca Dragan and Kuan Fang and Sergey Levine},
booktitle = {NeurIPS},
year = {2025},
}
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Prompting with the Future: Open-World Model Predictive Control with Interactive Digital Twins
Chuanruo Ning, Kuan Fang†Equal advising, Wei-Chiu Ma†Equal advising
RSS 2025
paperwebsitecode
bibtex
@inproceedings{ning2025pwtf,
title = {Prompting with the Future: Open-World Model Predictive Control with Interactive Digital Twins},
author = {Chuanruo Ning and Kuan Fang and Wei-Chiu Ma},
booktitle = {RSS},
year = {2025},
}
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Blox-Net: Generative Design-for-Robot-Assembly using VLM Supervision, Physics Simulation, and A Robot with Reset
Andrew Goldberg, Kavish Kondap, Tianshuang Qiu, Zehan Ma, Letian Fu, Justin Kerr, Huang Huang, Kaiyuan Chen, Kuan Fang, Ken Goldberg
ICRA 2025
paperwebsite
bibtex
@inproceedings{goldberg2025bloxnet,
title = {Blox-Net: Generative Design-for-Robot-Assembly using VLM Supervision, Physics Simulation, and A Robot with Reset},
author = {Andrew Goldberg and Kavish Kondap and Tianshuang Qiu and Zehan Ma and Letian Fu and Justin Kerr and Huang Huang and Kaiyuan Chen and Kuan Fang and Ken Goldberg},
booktitle = {ICRA},
year = {2025},
}
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KALIE: Fine-Tuning Vision-Language Models for Open-World Manipulation without Robot Data
Grace Tang*Equal contribution, Swetha Rajkumar*Equal contribution, Yifei Zhou, Homer Rich Walke, Sergey Levine†Equal advising, Kuan Fang†Equal advising
ICRA 2025
paperwebsitevideocode
bibtex
@inproceedings{tang2025kalie,
title = {KALIE: Fine-Tuning Vision-Language Models for Open-World Manipulation without Robot Data},
author = {Grace Tang and Swetha Rajkumar and Yifei Zhou and Homer Rich Walke and Sergey Levine and Kuan Fang},
booktitle = {ICRA},
year = {2025},
}
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Affordance-Guided Reinforcement Learning via Visual Prompting
Olivia Y. Lee, Annie Xie, Kuan Fang, Karl Pertsch, Chelsea Finn
IROS 2025
paperwebsitevideo
bibtex
@inproceedings{lee2024agrl,
title = {Affordance-Guided Reinforcement Learning via Visual Prompting},
author = {Olivia Y. Lee and Annie Xie and Kuan Fang and Karl Pertsch and Chelsea Finn},
booktitle = {IROS},
year = {2025},
}
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Policy Adaptation via Language Optimization: Decomposing Tasks for Few-Shot Imitation
Vivek Myers*Equal contribution, Bill Chunyuan Zheng*Equal contribution, Oier Mees, Sergey Levine†Equal advising, Kuan Fang†Equal advising
CoRL 2024
paperwebsitecode
bibtex
@inproceedings{myers2024palo,
title = {Policy Adaptation via Language Optimization: Decomposing Tasks for Few-Shot Imitation},
author = {Vivek Myers and Bill Chunyuan Zheng and Oier Mees and Sergey Levine and Kuan Fang},
booktitle = {CoRL},
year = {2024},
}
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Jacta: A Versatile Planner for Learning Dexterous and Whole-Body Manipulation
Jan Bruedigam, Ali Adeeb Abbas, Maks Sorokin, Kuan Fang, Brandon Hung, Maya Guru, Stefan Georg Sosnowski, Jiuguang Wang, Sandra Hirche, Simon Le Cleac'h
CoRL 2024
paperwebsite
bibtex
@inproceedings{burdigam2024jacta,
title = {Jacta: A Versatile Planner for Learning Dexterous and Whole-Body Manipulation},
author = {Jan Bruedigam and Ali Adeeb Abbas and Maks Sorokin and Kuan Fang and Brandon Hung and Maya Guru and Stefan Georg Sosnowski and Jiuguang Wang and Sandra Hirche and Simon Le Cleac'h},
booktitle = {CoRL},
year = {2024},
}
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MOKA: Open-World Robotic Manipulation through Mark-Based Visual Prompting
Kuan Fang*Equal contribution, Fangchen Liu*Equal contribution, Pieter Abbeel, Sergey Levine
RSS 2024
paperwebsitecode
bibtex
@inproceedings{rss2024moka,
title = {MOKA: Open-World Robotic Manipulation through Mark-Based Visual Prompting},
author = {Kuan Fang and Fangchen Liu and Pieter Abbeel and Sergey Levine},
booktitle = {RSS},
year = {2024},
}
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Open X-Embodiment: Robotic Learning Datasets and RT-X Models
Open X-Embodiment Collaboration
ICRA 2024
paperwebsitecodedata
bibtex
@inproceedings{collaboration2024rtx,
title = {Open X-Embodiment: Robotic Learning Datasets and RT-X Models},
author = {Open X-Embodiment Collaboration},
booktitle = {ICRA},
year = {2024},
}
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Stabilizing Contrastive RL: Techniques for Offline Goal Reaching
Chongyi Zheng, Benjamin Eysenbach, Homer Walke, Patrick Yin, Kuan Fang, Ruslan Salakhutdinov, Sergey Levine
ICLR 2024
paperwebsitecode
bibtex
@inproceedings{zheng2024scrl,
title = {Stabilizing Contrastive RL: Techniques for Offline Goal Reaching},
author = {Chongyi Zheng and Benjamin Eysenbach and Homer Walke and Patrick Yin and Kuan Fang and Ruslan Salakhutdinov and Sergey Levine},
booktitle = {ICLR},
year = {2024},
}
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Multi-Stage Cable Routing Through Hierarchical Imitation Learning
Jianlan Luo*Equal contribution, Charles Xu*Equal contribution, Xinyang Geng*Equal contribution, Gilbert Feng, Kuan Fang, Liam Tan, Stefan Schaal, Sergey Levine
T-RO 2024
paperwebsitecodedataset
bibtex
@article{cable2023,
title = {Multi-Stage Cable Routing Through Hierarchical Imitation Learning},
author = {Jianlan Luo and Charles Xu and Xinyang Geng and Gilbert Feng and Kuan Fang and Liam Tan and Stefan Schaal and Sergey Levine},
journal = {T-RO},
year = {2024},
}
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Goal Representations for Instruction Following: A Semi-Supervised Language Interface to Control
Vivek Myers*Equal contribution, Andre He*Equal contribution, Kuan Fang, Homer Walke, Philippe Hansen-Estruch, Ching-An Cheng, Mihai Jalobeanu, Andrey Kolobov, Anca Dragan, Sergey Levine
CoRL 2023
paperwebsitecode
bibtex
@inproceedings{grif2023,
title = {Goal Representations for Instruction Following: A Semi-Supervised Language Interface to Control},
author = {Vivek Myers and Andre He and Kuan Fang and Homer Walke and Philippe Hansen-Estruch and Ching-An Cheng and Mihai Jalobeanu and Andrey Kolobov and Anca Dragan and Sergey Levine},
booktitle = {CoRL},
year = {2023},
}
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|
BridgeData V2: A Dataset for Robot Learning at Scale
Homer Walke, Kevin Black, Abraham Lee, Moo Jin Kim, Max Du, Chongyi Zheng, Tony Zhao, Philippe Hansen-Estruch, Quan Vuong, Andre He, Vivek Myers, Kuan Fang, Chelsea Finn, Sergey Levine
CoRL 2023
paperwebsitecodedata
bibtex
@inproceedings{bridge2023,
title = {BridgeData V2: A Dataset for Robot Learning at Scale},
author = {Homer Walke and Kevin Black and Abraham Lee and Moo Jin Kim and Max Du and Chongyi Zheng and Tony Zhao and Philippe Hansen-Estruch and Quan Vuong and Andre He and Vivek Myers and Kuan Fang and Chelsea Finn and Sergey Levine},
booktitle = {CoRL},
year = {2023},
}
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|
Active Task Randomization: Learning Robust Skills Via Unsupervised Generation of Diverse and Feasible Tasks
Kuan Fang*Equal contribution, Toki Migimatsu*Equal contribution, Ajay Mandlekar, Li Fei-Fei, Jeannette Bohg
IROS 2023
paperwebsite
bibtex
@inproceedings{atr2022,
title = {Active Task Randomization: Learning Robust Skills Via Unsupervised Generation of Diverse and Feasible Tasks},
author = {Kuan Fang and Toki Migimatsu and Ajay Mandlekar and Li Fei-Fei and Jeannette Bohg},
booktitle = {IROS},
year = {2023},
}
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|
Generalization with Lossy Affordances: Leveraging Broad Offline Data for Learning Visuomotor Tasks
Kuan Fang, Patrick Yin, Ashvin Nair, Homer Walke, Gengchen Yan, Sergey Levine
CoRL 2022 (Oral Presentation)
paperwebsitecode
bibtex
@inproceedings{fang2022flap,
title = {Generalization with Lossy Affordances: Leveraging Broad Offline Data for Learning Visuomotor Tasks},
author = {Kuan Fang and Patrick Yin and Ashvin Nair and Homer Walke and Gengchen Yan and Sergey Levine},
booktitle = {CoRL},
year = {2022},
}
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Planning to Practice: Efficient Online Fine-Tuning by Composing Goals in Latent Space
Kuan Fang*Equal contribution, Patrick Yin*Equal contribution, Ashvin Nair, Sergey Levine
IROS 2022
paperwebsitecode
bibtex
@inproceedings{fang2022ptp,
title = {Planning to Practice: Efficient Online Fine-Tuning by Composing Goals in Latent Space},
author = {Kuan Fang and Patrick Yin and Ashvin Nair and Sergey Levine},
booktitle = {IROS},
year = {2022},
}
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|
Discovering Generalizable Skills via Automated Generation of Diverse Tasks
Kuan Fang, Yuke Zhu, Silvio Savarese, Li Fei-Fei
RSS 2021
paperwebsite
bibtex
@inproceedings{fang2021slide,
title = {Discovering Generalizable Skills via Automated Generation of Diverse Tasks},
author = {Kuan Fang and Yuke Zhu and Silvio Savarese and Li Fei-Fei},
booktitle = {RSS},
year = {2021},
}
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Synergies Between Affordance and Geometry: 6-DoF Grasp Detection via Implicit Representations
Zhenyu Jiang, Yifeng Zhu, Maxwell Svetlik, Kuan Fang, Yuke Zhu
RSS 2021
paperwebsitecode
bibtex
@inproceedings{jiang2021giga,
title = {Synergies Between Affordance and Geometry: 6-DoF Grasp Detection via Implicit Representations},
author = {Zhenyu Jiang and Yifeng Zhu and Maxwell Svetlik and Kuan Fang and Yuke Zhu},
booktitle = {RSS},
year = {2021},
}
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Adaptive Procedural Task Generation for Hard-Exploration Problems
Kuan Fang, Yuke Zhu, Silvio Savarese, Li Fei-Fei
ICLR 2021
paperwebsite
bibtex
@inproceedings{fang2020aptgen,
title = {Adaptive Procedural Task Generation for Hard-Exploration Problems},
author = {Kuan Fang and Yuke Zhu and Silvio Savarese and Li Fei-Fei},
booktitle = {ICLR},
year = {2021},
}
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|
KETO: Learning Keypoint Representations for Tool Manipulation
Zengyi Qin, Kuan Fang, Yuke Zhu, Li Fei-Fei, Silvio Savarese
ICRA 2020
paperwebsitecode
bibtex
@inproceedings{qin2019keto,
title = {KETO: Learning Keypoint Representations for Tool Manipulation},
author = {Zengyi Qin and Kuan Fang and Yuke Zhu and Li Fei-Fei and Silvio Savarese},
booktitle = {ICRA},
year = {2020},
}
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|
Dynamics Learning with Cascaded Variational Inference for Multi-Step Manipulation
Kuan Fang, Yuke Zhu, Animesh Garg, Silvio Savarese, Li Fei-Fei
CoRL 2019 (Oral Presentation)
paperwebsitecodeenvironmentblog
bibtex
@inproceedings{fang2019cavin,
title = {Dynamics Learning with Cascaded Variational Inference for Multi-Step Manipulation},
author = {Kuan Fang and Yuke Zhu and Animesh Garg and Silvio Savarese and Li Fei-Fei},
booktitle = {CoRL},
year = {2019},
}
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|
Scene Memory Transformer for Embodied Agents in Long-Horizon Tasks
Kuan Fang, Alexander Toshev, Li Fei-Fei, Silvio Savarese
CVPR 2019
paperwebsite
bibtex
@inproceedings{fang2019smt,
title = {Scene Memory Transformer for Embodied Agents in Long-Horizon Tasks},
author = {Kuan Fang and Alexander Toshev and Li Fei-Fei and Silvio Savarese},
booktitle = {CVPR},
year = {2019},
}
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|
Learning Task-Oriented Grasping for Tool Manipulation from Simulated Self-Supervision
Kuan Fang, Yuke Zhu, Animesh Garg, Andrey Kurenkov, Viraj Mehta, Li Fei-Fei, Silvio Savarese
RSS 2018
IJRR 2019
paper (RSS 2018)websitevideopaper (IJRR 2019)
bibtex
@article{fang2018tog,
title = {Learning Task-Oriented Grasping for Tool Manipulation from Simulated Self-Supervision},
author = {Kuan Fang and Yuke Zhu and Animesh Garg and Andrey Kurenkov and Viraj Mehta and Li Fei-Fei and Silvio Savarese},
journal = {IJRR},
year = {2019},
}
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|
Multi-Task Domain Adaptation for Deep Learning of Instance Grasping from Simulation
Kuan Fang, Yunfei Bai, Stefan Hinterstoisser, Silvio Savarese, Mrinal Kalakrishnan
ICRA 2018
paperwebsitevideo
bibtex
@inproceedings{fang2018mtda,
title = {Multi-Task Domain Adaptation for Deep Learning of Instance Grasping from Simulation},
author = {Kuan Fang and Yunfei Bai and Stefan Hinterstoisser and Silvio Savarese and Mrinal Kalakrishnan},
booktitle = {ICRA},
year = {2018},
}
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|
Demo2Vec: Reasoning Object Affordances from Online Videos
Kuan Fang*Equal contribution, Te-Lin Wu*Equal contribution, Daniel Yang, Silvio Savarese, Joseph J. Lim
CVPR 2018
paperwebsitecode
bibtex
@inproceedings{fang2018demo2vec,
title = {Demo2Vec: Reasoning Object Affordances from Online Videos},
author = {Kuan Fang and Te-Lin Wu and Daniel Yang and Silvio Savarese and Joseph J. Lim},
booktitle = {CVPR},
year = {2018},
}
|
|
Recurrent Autoregressive Networks for Online Multi-Object Tracking
Kuan Fang, Yu Xiang, Xiaocheng Li, Silvio Savarese
WACV 2018
papervideo
bibtex
@inproceedings{fang2018ran,
title = {Recurrent Autoregressive Networks for Online Multi-Object Tracking},
author = {Kuan Fang and Yu Xiang and Xiaocheng Li and Silvio Savarese},
booktitle = {WACV},
year = {2018},
}
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|
DeLay: Robust Spatial Layout Estimation for Cluttered Indoor Scenes
Saumitro Dasgupta, Kuan Fang*Equal contribution, Kevin Chen*Equal contribution, Silvio Savarese
CVPR 2016
paperwebsite
bibtex
@inproceedings{dasgupta2016delay,
title = {DeLay: Robust Spatial Layout Estimation for Cluttered Indoor Scenes},
author = {Saumitro Dasgupta and Kuan Fang and Kevin Chen and Silvio Savarese},
booktitle = {CVPR},
year = {2016},
}
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