URIL - Publications

MolmoSpaces: A Large-Scale Open Ecosystem for Robot Navigation and Manipulation

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

In Submission, February 2026

[paper] [code]

DiSCo: Diffusion Sequence Copilots for Shared Autonomy

Brandon McMahan, Andy Wang, Xu Yan, Michael Zhou, Yuyang Yuan, Johannes Y. Lee, Ali Shreif, Matthew Li, Zhenghao Peng, Bolei Zhou, Yuchen Cui, Jonathan C. Kao

ACM/IEEE International Conference on Human-Robot Interaction (HRI), 2026

Intent at a Glance: Gaze-Guided Robotic Manipulation via Foundation Models

Tracey Yee Hsin Tay, Xu Yan, Jonathan Ouyang, Daniel Wu, William Jiang, Jonathan Kao, Yuchen Cui

RSS 2025 Workshop on Robot Planning in the Era of Foundation Models, June 2025

TRACE: Textual Reasoning for Affordance Coordinate Extraction

Sangyun Park, Jin Kim, Yuchen Cui, Matthew S Brown

ICCV 2025 Knowledge-Intensive Multimodal Reasoning Workshop, Nov 2025

Casper: Inferring Diverse Intents for Assistive Teleoperation with Vision Language Models

Huihan Liu, Rutav Shah, Shuijing Liu, Jack Pittenger, Mingyo Seo, Yuchen Cui, Yonatan Bisk, Roberto Martín-Martín, Yuke Zhu

Conference on Robot Learning (CoRL), September 2025

GraphPad: Inference-Time 3D Scene Graph Updates for Embodied Question Answering

Muhammad Qasim Ali, Saeejith Nair, Alexander Wong, Yuchen Cui, Yuhao Chen

CVPR Workshop on 3D-LLM/VLA: Bridging Language, Vision and Action in 3D Environments, June 2025

SAMJAM: Zero-Shot Video Scene Graph Generation for Egocentric Kitchen Videos

Joshua Li, Fernando Jose Pena Cantu, Emily Yu, Alexander Wong, Yuchen Cui, Yuhao Chen

Computer Vision and Pattern Recognition Conference (CVPR) MetaFood Workshop, June 2025

Shared Autonomy for Proximal Teaching

Megha Srivastava, Reihaneh Iranmanesh, Yuchen Cui, Deepak Gopinath, Emily Sarah Sumner, Andrew Silva, Laporsha Dees, Guy Rosman, Dorsa Sadigh

ACM/IEEE International Conference on Human-Robot Interaction (HRI), Mar 2025

[paper]

How to Train Your Robots? The Impact of Demonstration Modality on Imitation Learning

Haozhuo Li, Yuchen Cui, Dorsa Sadigh

Proceedings of the International Conference on Robotics and Automation (ICRA), May 2025

[paper]

FlowRetrieval: Flow-Guided Data Retrieval for Few-Shot Imitation Learning

Li-Heng Lin, Yuchen Cui, Amber Xie, Tianyu Hua, Dorsa Sadigh

Conference on Robot Learning (CoRL), November 2024

[paper] [website]

Distilling and Retrieving Generalizable Knowledge for Robot Manipulation via Language Corrections

Lihan Zha, Yuchen Cui, Li-Heng Lin, Minae Kwon, Montserrat Gonzalez Arenas, Andy Zeng, Fei Xia, Dorsa Sadigh

International Conference on Robotics and Automation (ICRA), May 2024

[paper] [website]

Open X-Embodiment: Robotic Learning Datasets and RT-X Models

Open X-Embodiment Collaboration

International Conference on Robotics and Automation (ICRA), May 2024

[paper] [website]

Data Quality in Imitation Learning

Suneel Belkhale, Yuchen Cui, Dorsa Sadigh

Conference on Neural Information Processing Systems (NeurIPS), December 2023

[paper]

HYDRA: Hybrid Robot Actions for Imitation Learning

Suneel Belkhale, Yuchen Cui, Dorsa Sadigh

Conference on Robot Learning (CoRL), November 2023

[paper] [website]

Gesture-Informed Robot Assistance via Foundation Model

Li-Heng Lin, Yuchen Cui, Yilun Hao, Fei Xia, Dorsa Sadigh

Conference on Robot Learning (CoRL), November 2023

[paper] [website]

Masked Imitation Learning: Discovering Environment-Invariant Modalities in Multimodal Demonstrations

Yilun Hao*, Ruinan Wang*, Zhangjie Cao, Zihan Wang, Yuchen Cui, Dorsa Sadigh

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), October 2023

[paper] [website]

"No, to the Right" – Online Language Corrections for Robotic Manipulation via Shared Autonomy

Yuchen Cui*, Siddharth Karamcheti*, Raj Palleti, Nidhya Shivakumar, Percy Liang, Dorsa Sadigh

Proceedings of the 2023 ACM/IEEE International Conference on Human-Robot Interaction (HRI), March 2023

[paper] [website]

Can Foundation Models Perform Zero-Shot Task Specification For Robot Manipulation?

Yuchen Cui, Scott Niekum, Abhinav Gupta, Vikash Kumar, Arvind Rajeswaran

Learning for Dynamics & Control Conference (L4DC), June 2022

[paper] [website]

Understanding the Relationship between Interactions and Outcomes in Human-in-the-Loop Machine Learning

Yuchen Cui, Pallavi Koppol, Henny Admoni, Scott Niekum, Reid Simmons, Aaron Steinfeld, Tesca Fitzgerald

Proceedings of the Thirtieth International Joint Conference on Artificial Intelligence (IJCAI), August 2021

[paper]

The EMPATHIC Framework for Task Learning from Implicit Human Feedback

Yuchen Cui, Qiping Zhang, Alessandro Allievi, Peter Stone, Scott Niekum, and W. Bradley Knox

Conference on Robot Learning (CoRL), November 2020

[paper] [website]

Uncertainty-Aware Data Aggregation for Deep Imitation Learning

Yuchen Cui, David Isele, Scott Niekum, Kikuo Fujimura

International Conference on Robotics and Automation (ICRA), May 2019

[paper]

Risk-Aware Active Inverse Reinforcement Learning

Daniel S. Brown*, Yuchen Cui*, Scott Niekum

Conference on Robot Learning (CoRL), November 2020

[paper]

Active Reward Learning from Critiques

Yuchen Cui, Scott Niekum

International Conference on Robotics and Automation (ICRA), May 2018

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