Yunfan Jiang

I am a final-year (2023-2027) CS PhD student at Stanford University, advised by Prof. Fei-Fei Li. I am affiliated with the Stanford Vision and Learning Lab. I work on the intersection of machine learning and robotics. I also work as a research intern at NVIDIA GEAR. My research is partially supported by the NVIDIA Graduate Fellowship.
Previously, I received my master's degree from Stanford University.

News [expand]

[September 2026] Four papers are accepted at CoRL 2026: ROBOTTT (oral), EgoScale (oral), T-Rex, and SimFoundry.
[July 2026] Introducing ROBOTTT, scaling visuomotor context for robot policies and unlocks new capabilities, such as in-context imitation and on-the-fly improvement.
[June 2026] Releasing SimFoundry, automatically generating simulation environments from real-world videos for robot policy learning.
[June 2026] Introducing T-Rex, models and dataset for tactile-reactive dexterous manipulation.
[June 2026] Releasing StereoPolicy, adding geometric cues to robot policies via stereo perception.
[February 2026] Releasing EgoScale, a framework for scaling human video to unlock dexterous robot intelligence.
[January 2026] MoMaGen is accepted at ICLR 2026.
[December 2025] Releasing GR00T N1.6, an improved open foundation model for generalist humanoid robots. Work done during part of my internship at NVIDIA GEAR.
[December 2025] I'm delighted to receive the NVIDIA Graduate Fellowship. Thank you NVIDIA for the support!
[October 2025] Releasing MoMaGen, a new method to synthesize robot demonstration data for mobile manipulation.
[September 2025] Introducing the 1st BEHAVIOR Challenge at NeurIPS 2025.
[August 2025] BEHAVIOR Robot Suite (BRS) is accepted at CoRL 2025.
[April 2025] Organizing RSS 2025 Mobile Manipulation workshop.
[March 2025] Introducing BEHAVIOR Robot Suite (BRS), a comprehensive framework for learning whole-body manipulation in diverse household tasks.
[October 2024] Introducing Digital Cousins, which enable an automated real-to-sim-to-real pipeline for robust and scalable robot learning.
[September 2024] TRANSIC and Digital Cousins are accepted at CoRL 2024.
[May 2024] Introducing TRANSIC, a holistic human-in-the-loop method to tackle sim-to-real transfer for contact-rich robot manipulation.
[March 2024] Voyager is accepted at TMLR.
[September 2023] One paper called Cross-Episodic Curriculum is accepted at NeurIPS 2023. See you again in NOLA.
[June 2023] I am glad to receive the prestigious Stanford School of Engineering Exceptional Master’s Student Award [press].
[June 2023] I will be interning at Boston Dynamics AI Institute this summer.
[May 2023] We introduce Voyager, the first LLM-powered embodied lifelong learning agent in an open-ended Minecraft world.
[April 2023] VIMA is accepted at ICML 2023. I'm also glad to receive the conference travel grant. See y'all in Hawaii!
[April 2023] 📢 Life Update 📢 Decide to stay at Stanford for my PhD study!
[November 2022] I talk about VIMA in Foundation Models for Decision Making workshop at NeurIPS 2022.
[November 2022] MineDojo is accepted at NeurIPS 2022 D&B track and wins the Outstanding Paper Award.
[October 2022] We design a Transformer agent, VIMA, that ingests multimodal prompts and solves a wide variety of robot manipulation tasks.
[June 2022] We release a new framework called MineDojo for building generalist agents that can solve open-ended tasks with internet-scale knowledge in Minecraft.

Research [show selected | show all]

ROBOTTT: Context Scaling for Robot Policies

Yunfan Jiang, Yevgen Chebotar, Ruijie Zheng, Fengyuan Hu, Yunhao Ge, Jimmy Wu, Tianyuan Dai, Scott Reed, Li Fei-Fei^†, Yuke Zhu^†, Linxi "Jim" Fan^†
† Equal advising
CoRL 2026 Oral Presentation
arXiv | paper | website | tldr
Covered by State of AI Report 2026

I3L: Iterative Interactive Imitation Learning for Whole-Body Mobile Manipulation

Wensi Ai^*, Christopher Luey^*, Karthik Dharmarajan^*, Evans Han, Yunfan Jiang, Stef Ren, Jianwen Xie, Jiajun Wu, Li Fei-Fei^†, Ruohan Zhang^†
* Equal contribution † Equal advising
arXiv 2026
arXiv | paper | website | code | tldr

T2-z: Test-Time Optimization of Environment Latents for Robotic World Models

Chenyuan Zhou^*, Yining Hong^*, Huang Huang^‡, Yunfan Jiang^‡, Wenlong Huang^‡, David Held, Vitor Campagnolo Guizilini, Yue Wang, Li Fei-Fei, Jiajun Wu^†, Leonidas Guibas^†, Yejin Choi^†
* Co-first contribution ‡ Co-second contribution † Equal advising
arXiv 2026
arXiv | paper | website | code | data

SimFoundry: Modular and Automated Scene Generation for Policy Learning and Evaluation

Nadun Ranawaka^*, Josiah Wong^*, Wei-Lin Pai, Wei-Teng Chu, Tianyuan Dai, Masoud Moghani, Hang Yin, Yunfan Jiang, Wesley Durbano, Brandon Huynh, Yu Fang, Linxi "Jim" Fan, Danfei Xu, Ruohan Zhang, Li Fei-Fei, Bowen Wen, Ajay Mandlekar^†, Yuke Zhu^†
* Equal contribution † Equal advising
CoRL 2026
arXiv | paper | website | tldr
Covered by State of AI Report 2026

T-Rex: Tactile-Reactive Dexterous Manipulation

Dantong Niu^*, Zhuoyang Liu^*, Zekai Wang^*, Boning Shao, Zhao-Heng Yin, Anirudh Pai, Yuvan Sharma, Stefano Saravalle, Ruijie Zheng, Jing Wang, Ryan Punamiya, Mengda Xu, Yuqi Xie, Yunfan Jiang, Letian Fu, Konstantinos Kallidromitis, Matteo Gioia, Junyi Zhang, Jiaxin Ge, Haiwen Feng, Fabio Galasso, Wei Zhan, David M. Chan, Yutong Bai, Roei Herzig, Jiahui Lei, Li Fei-Fei, Ken Goldberg, Jitendra Malik, Pieter Abbeel, Yuke Zhu, Danfei Xu, Linxi "Jim" Fan, Trevor Darrell
* Equal contribution
CoRL 2026
arXiv | paper | website | code | model | data | tldr

StereoPolicy: Improving Robotic Manipulation Policies via Stereo Perception

Evans Han, Yunfan Jiang, Yingke Wang, Haoyue Xiao, Huang Huang, Jianwen Xie, Jiajun Wu, Li Fei-Fei, Ruohan Zhang
arXiv 2026
arXiv | paper | website | code | tldr

EgoScale: Scaling Dexterous Manipulation with Diverse Egocentric Human Data

Ruijie Zheng^*, Dantong Niu^*, Yuqi Xie^*, Jing Wang, Mengda Xu, Yunfan Jiang, Fernando Castañeda, Fengyuan Hu, You Liang Tan, Letian Fu, Trevor Darrell, Furong Huang, Yuke Zhu^†, Danfei Xu^†, Linxi "Jim" Fan^†
* Equal contribution † Equal advising
CoRL 2026 Oral Presentation
arXiv | paper | website | tldr

GR00T N1.6: An Improved Open Foundation Model for Generalist Humanoid Robots

NVIDIA GEAR Team
Work done during internship at NVIDIA GEAR
blog | code | model | data

MoMaGen: Generating Demonstrations under Soft and Hard Constraints for Multi-Step Bimanual Mobile Manipulation

Chengshu Li^*, Mengdi Xu^*, Arpit Bahety^*, Hang Yin^*, Yunfan Jiang, Huang Huang, Josiah Wong, Sujay Garlanka, Cem Gokmen, Ruohan Zhang, Weiyu Liu, Jiajun Wu, Roberto Martín-Martín, Li Fei-Fei
* Equal contribution
ICLR 2026
arXiv | paper | website | code | doc | tldr

1st BEHAVIOR Challenge @ NeurIPS 2025

BEHAVIOR Team
website | doc | data | baseline | tldr
Covered by Stanford HAI

BEHAVIOR Robot Suite: Streamlining Real-World Whole-Body Manipulation for Everyday Household Activities

Automated Creation of Digital Cousins for Robust Policy Learning

Tianyuan Dai^*, Josiah Wong^*, Yunfan Jiang, Chen Wang, Cem Gokmen, Ruohan Zhang, Jiajun Wu, Li Fei-Fei
* Equal contribution
CoRL 2024
arXiv | paper | website | code | tldr

TRANSIC: Sim-to-Real Policy Transfer by Learning from Online Correction

Yunfan Jiang, Chen Wang, Ruohan Zhang, Jiajun Wu, Li Fei-Fei
CoRL 2024
arXiv | paper | website | code | tldr

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

Open X-Embodiment Collaboration
ICRA 2024
arXiv | paper | website | data | tldr

Voyager: An Open-Ended Embodied Agent with Large Language Models

Guanzhi Wang, Yuqi Xie, Yunfan Jiang^*, Ajay Mandlekar^*, Chaowei Xiao, Yuke Zhu, Linxi "Jim" Fan^†, Anima Anandkumar^†
* Equal contribution † Equal advising
TMLR
Also Oral Presentation at NeurIPS 2023 Agent Learning in Open-Endedness Workshop and Intrinsically Motivated Open-Ended Learning Workshop
arXiv | paper | website | code | tldr
Covered by Forbes, WIRED, and Two Minute Papers

Cross-Episodic Curriculum for Transformer Agents

Lucy Xiaoyang Shi^*, Yunfan Jiang^*, Jake Grigsby, Linxi "Jim" Fan^†, Yuke Zhu^†
* Equal contribution † Equal advising
NeurIPS 2023
arXiv | paper | website | code | tldr

VIMA: General Robot Manipulation with Multimodal Prompts

Yunfan Jiang, Agrim Gupta^*, Zichen "Charles" Zhang^*, Guanzhi Wang^*, Yongqiang Dou, Yanjun Chen, Li Fei-Fei, Anima Anandkumar, Yuke Zhu^†, Linxi "Jim" Fan^†
* Equal contribution † Equal advising
ICML 2023
Also Oral Presentation at NeurIPS 2022 Foundation Models for Decision Making Workshop
arXiv | paper | website | code | tldr
Covered by NVIDIA GTC Jensen Huang Keynote

MineDojo: Building Open-Ended Embodied Agents with Internet-Scale Knowledge

Linxi "Jim" Fan, Guanzhi Wang^*, Yunfan Jiang^*, Ajay Mandlekar, Yuncong Yang, Haoyi Zhu, Andrew Tang, De-An Huang, Yuke Zhu^†, Anima Anandkumar^†
* Equal contribution † Equal advising
NeurIPS 2022 Datasets and Benchmarks Track
🎉 Outstanding Paper Award 🎉
Featured Paper (Oral-Equivalent)
arXiv | paper | website | code | tldr
Covered by NVIDIA Blog, Two Minute Papers, and Ars Technica