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Zhenjia Xu

Co-Founder of Genesis AI
Ex-Senior Research Scientist at NVIDIA's GEAR group
Email: xuzhenjia1997 [at] gmail (dot) com
Google Scholar / GitHub / LinkedIn

I am a robotics researcher and engineer, and a co-founder of Genesis AI. I received my Ph.D. from Columbia University, where I was advised by Shuran Song. I earned my B.Eng. in Computer Science from Shanghai Jiao Tong University.

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)
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)
DoughNet: A Visual Predictive Model for Topological Manipulation of Deformable Objects
Dominik Bauer, Zhenjia Xu, Shuran Song
European Conference on Computer Vision (ECCV 2024)
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)
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)
Cheng Chi*, Zhenjia Xu*, Siyuan Feng, Eric Cousineau, Yilun Du, Benjamin Burchfiel, Russ Tedrake, Shuran Song
The International Journal of Robotics Research (IJRR 2024)
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)
Best Student Paper
XSkill: Cross Embodiment Skill Discovery
Mengda Xu, Zhenjia Xu, Cheng Chi, Manuela Veloso, Shuran Song
Conference on Robot Learning (CoRL 2023)
FluidLab: A Differentiable Environment for Benchmarking Complex Fluid Manipulation
Zhou Xian, Bo Zhu, Zhenjia Xu, Hsiao-Yu Tung, Antonio Torralba, Katerina Fragkiadaki, Chuang Gan
International Conference on Learning Representations (ICLR 2023)
Spotlight Presentation
BusyBot: Learning to Interact, Reason, and Plan in a BusyBoard Environment
Zeyi Liu, Zhenjia Xu, Shuran Song
Conference on Robot Learning (CoRL 2022)
DextAIRity: Deformable Manipulation Can be a Breeze
Zhenjia Xu, Cheng Chi, Benjamin Burchfiel, Eric Cousineau, Siyuan Feng, Shuran Song
Robotics: Science and Systems (RSS 2022)
Best System Paper Finalist
UMPNet: Universal Manipulation Policy Network for Articulated Objects
Zhenjia Xu, Zhanpeng He, Shuran Song
Robotics and Automation Letters (RA-L) / ICRA 2022
AdaGrasp: Learning an Adaptive Gripper-Aware Grasping Policy
Zhenjia Xu, Beichun Qi, Shubham Agrawal, Shuran Song
International Conference on Robotics and Automation (ICRA 2021)
Learning 3D Dynamic Scene Representations for Robot Manipulation
Zhenjia Xu*, Zhanpeng He*, Jiajun Wu, Shuran Song
Conference on Robot Learning (CoRL 2020)
DensePhysNet: Learning Dense Physical Object Representations via Multi-step Dynamic Interactions
Zhenjia Xu, Jiajun Wu, Andy Zeng, Josh Tenenbaum, Shuran Song
Robotics: Science and Systems (RSS 2019)
Unsupervised Discovery of Parts, Structure, and Dynamics
Zhenjia Xu*, Zhijian Liu*, Chen Sun, Kevin Murphy, William Freeman, Josh Tenenbaum, Jiajun Wu
International Conference on Learning Representations (ICLR 2019)