Zhenjia Xu

Research Scientist @ Nvidia

Generalist Embodied Agent Research (GEAR) group

Email: zhenjiax [at] nvidia (dot) com

Google Scholar / GitHub / LinkedIn

I am a Research Scientist at NVIDIA's Generalist Embodied Agent Research (GEAR) group. I obtained my Ph.D. degree from Columbia University, advised by Shuran Song. I received my B.Eng. in Computer Science from Shanghai Jiao Tong University. During my undergrad, I was fortunate to work with Jiajun Wu and Josh Tenenbaum.

Publications

Universal Manipulation Interface: In-The-Wild Robot Teaching Without In-The-Wild Robots

Cheng Chi*, Zhenjia Xu*, Chuer Pan, Eric Cousineau, Benjamin Burchfiel, Siyuan Feng, Russ Tedrake, Shuran Song

Robotics: Science and Systems (RSS 2024)

Paper / Webpage / Code

Best System Paper Finalist

Flow as the Cross-domain Manipulation Interface

Mengda Xu, Zhenjia Xu, Yinghao Xu, Cheng Chi, Gordon Wetzstein, Manuela Veloso, Shuran Song

Conference on Robot Learning (CoRL 2024)

Paper / Webpage / Code

DoughNet: A Visual Predictive Model for Topological Manipulation of Deformable Objects

Dominik Bauer, Zhenjia Xu, Shuran Song

European Conference on Computer Vision (ECCV 2024)

Paper / Webpage / Code

RoboNinja: Learning an Adaptive Cutting Policy for Multi-Material Objects

Zhenjia Xu, Zhou Xian, Xingyu Lin, Cheng Chi, Zhiao Huang, Chuang Gan, Shuran Song

Robotics: Science and Systems (RSS 2023)

Paper / Webpage / Code

Diffusion Policy: Visuomotor Policy Learning via Action Diffusion

Cheng Chi, Siyuan Feng, Yilun Du, Zhenjia Xu, Eric Cousineau, Benjamin Burchfiel, Shuran Song

Robotics: Science and Systems (RSS 2023)

Paper / Webpage / Code

Robots That Ask For Help: Uncertainty Alignment for Large Language Model Planners

Allen Z. Ren, Anushri Dixit, Alexandra Bodrova, Sumeet Singh, Stephen Tu, Noah Brown, Peng Xu, Leila Takayama, Fei Xia, Jake Varley, Zhenjia Xu, Dorsa Sadigh, Andy Zeng, Anirudha Majumdar

Conference on Robot Learning (CoRL 2023)

Paper / Webpage / Code

Best Student Paper