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  <meta name="description" content="Zipeng Fu, Cofounder and CEO of Reward AI. Research in robotics, machine learning, and computer vision.">
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  <title>Zipeng Fu</title>
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<h1>Zipeng Fu</h1>
<table class="profile-layout" role="presentation" width="100%" align="center" border="0" cellspacing="0" cellpadding="20">

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    <td class="profile-sidebar" width="30%" valign="top"><a href="images/Reward_AI_Profile_Photo_Sqaure.png"><img class="profile-photo" src="images/Reward_AI_Profile_Photo_Sqaure.png" alt="Zipeng Fu" width="650" height="649"></a>
    <p align=center>
    | <a href="data/ZipengFu_CV.pdf">CV</a> |
    <a href="mailto:zipengfu@cs.stanford.edu">Email</a> |
    <a href="https://scholar.google.com/citations?user=wMcPTbEAAAAJ">G Scholar</a> |
    <br/>
    | <a href="https://github.com/MarkFzp">Github</a> |
    <a href="https://twitter.com/zipengfu">Twitter</a> |
    <a href="https://www.linkedin.com/in/zipengfu">LinkedIn</a> |
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    <td class="biography" width="70%" valign="top">
    <p>
      I'm a cofounder and the CEO of <a href="https://rewardai.com/">Reward AI</a>.
    </p>
    <section class="previous-life" aria-labelledby="previous-life-heading">
    <h2 id="previous-life-heading">previous life:</h2>
    <p>
      I completed my PhD in computer science at the <a href="https://ai.stanford.edu/">Stanford AI Lab</a> in 2.5 years, advised by <a href="https://ai.stanford.edu/~cbfinn/">Chelsea Finn</a>.
      I was a researcher at Google DeepMind, working with <a href="http://www.jie-tan.net/">Jie Tan</a>.
      My research was supported by the Pierre and Christine Lamond Fellowship.
      Previously, I completed my master's degree in the Machine Learning Department and worked as a researcher in the Robotics Institute at CMU, advised by <a href="https://www.cs.cmu.edu/~dpathak">Deepak Pathak</a> and <a href="http://people.eecs.berkeley.edu/~malik/">Jitendra Malik</a>.
      I completed my bachelor's degree in computer science and applied mathematics at UCLA, advised by <a href="http://www.stat.ucla.edu/~sczhu/">Song-Chun Zhu</a>.
      My research interests lie at the intersection of robotics, machine learning, and computer vision. I care about robust robot performance and deployable robot systems in the unstructured open world.
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<section class="reward-section" aria-labelledby="reward-heading">
  <h2 id="reward-heading">Reward AI</h2>
  <div class="video-embed">
    <iframe src="https://www.youtube.com/embed/IJvyS2aPsnA" title="OM-1: Frontier Robot Intelligence Learned Firsthand from Humans" width="864" height="486" frameborder="0" allow="accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture; web-share" referrerpolicy="strict-origin-when-cross-origin" allowfullscreen></iframe>
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<h2 class="publications-heading" id="publications">Publications</h2>
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    <td width="40%" valign="top" align="center"><a href="https://humanoid-ai.github.io">
    <video playsinline autoplay loop muted src="images/humanplus-clip.mp4" poster="./images/loading-icon.gif" alt="sym" width="90%" style="padding-top:0px;padding-bottom:0px;border-radius:15px;"></video>
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      <p><a href="https://humanoid-ai.github.io" id="HUMANPLUS">
      <span class="paper-title">HumanPlus: Humanoid Shadowing and Imitation from Humans</span></a><br>
      Zipeng Fu*, Qingqing Zhao*, Qi Wu*, Gordon Wetzstein, Chelsea Finn<br>
      CoRL 2024<br>
      <b style="color:rgb(255, 100, 100);">Best Paper Award Finalist (top 6)</b>
      </p>

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    <td width="40%" valign="top" align="center"><a href="https://mobile-aloha.github.io">
    <video playsinline autoplay loop muted src="images/mobile-aloha-clip.mp4" poster="./images/loading-icon.gif" alt="sym" width="90%" style="padding-top:0px;padding-bottom:0px;border-radius:15px;"></video>
    </a></td>
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      <p><a href="https://mobile-aloha.github.io" id="MOBILE_ALOHA">
      <span class="paper-title">Mobile ALOHA: Learning Bimanual Mobile Manipulation with Low-Cost Whole-Body Teleoperation</span></a><br>
      Zipeng Fu*, Tony Z. Zhao*, Chelsea Finn<br>
      CoRL 2024<br>
      </p>

      <p>
        Media Coverage: <a href="https://www.economist.com/science-and-technology/2024/06/05/robots-are-suddenly-getting-cleverer-whats-changed">The Economist</a> |
        <a href="https://www.technologyreview.com/2024/01/15/1086592/watch-this-robot-cook-shrimp-and-clean-autonomously/">MIT Technology Review</a> |
        <a href="https://www.youtube.com/watch?v=HUgqyNgLf7U">TechCrunch</a> |
        <a href="https://economictimes.indiatimes.com/tech/technology/google-deepmind-introduces-mobile-aloha-humanoid-system/articleshow/106569461.cms?from=mdr">The Economic Times</a> |
        <a href="https://www.scmp.com/tech/tech-trends/article/3248330/stanford-students-win-hearts-china-us32000-household-robot-can-cook-shrimp-and-wash-pans">SCMP</a> |
        <a href="https://biz.chosun.com/science-chosun/technology/2024/01/09/O6PVXEE4AJHBNAMJ3GU4XWCOFI/">Chosun Ilbo</a> |
        <a href="https://news.cgtn.com/news/2024-01-08/Mobile-ALOHA-Stanford-s-housekeeping-robot-can-do-chores-1qc2tNgsyWI/p.html">CGTN</a> |
        <a href="https://www.youtube.com/watch?v=z5KTSsUg2I8">CNet</a> |
        <a href="https://news.stanford.edu/stories/2024/04/mobile-aloha-robot-is-a-quick-learner">Stanford Report</a> |
        <a href="https://venturebeat.com/automation/stanfords-mobile-aloha-robot-learns-from-humans-to-cook-clean-do-laundry/">VentureBeat</a>
      </p>
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    <td width="40%" valign="top" align="center"><a href="https://arxiv.org/abs/2407.07775">
    <video playsinline autoplay loop muted src="images/mobility-vla-clip.mp4" poster="./images/loading-icon.gif" alt="sym" width="90%" style="padding-top:0px;padding-bottom:0px;border-radius:15px;"></video>
    </a></td>
    <td width="60%" valign="top">
      <p><a href="https://arxiv.org/abs/2407.07775" id="mobility_vla">
      <span class="paper-title">Mobility VLA: Multimodal Instruction Navigation with Long-Context VLMs and Topological Graphs</span></a><br>
      Hao-Tien Lewis Chiang*, Zhuo Xu*, Zipeng Fu*, Mithun George Jacob, Tingnan Zhang, Tsang-Wei Edward Lee, Wenhao Yu, Connor Schenck, David Rendleman, Dhruv Shah, Fei Xia, Jasmine Hsu, Jonathan Hoech, Pete Florence, Sean Kirmani, Sumeet Singh, Vikas Sindhwani, Carolina Parada*, Chelsea Finn*, Peng Xu*, Sergey Levine*, Jie Tan*<br>
      CoRL 2024<br>
      </p>

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    <td width="40%" valign="top" align="center"><a href="https://umi-on-legs.github.io">
    <video playsinline autoplay loop muted src="images/umi-on-legs-clip.mp4" poster="./images/loading-icon.gif" alt="sym" width="90%" style="padding-top:0px;padding-bottom:0px;border-radius:15px;"></video>
    </a></td>
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      <p><a href="https://umi-on-legs.github.io" id="umi_on_legs">
      <span class="paper-title">UMI on Legs: Making Manipulation Policies Mobile with Manipulation-Centric Whole-body Controllers</span></a><br>
      Huy Ha*, Yihuai Gao*, Zipeng Fu, Jie Tan, Shuran Song<br>
      CoRL 2024<br>
      </p>

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    <td width="40%" valign="top" align="center"><a href="https://robotics-transformer-x.github.io">
    <video playsinline autoplay loop muted src="images/rtx-clip.mp4" poster="./images/loading-icon.gif" alt="sym" width="90%" style="padding-top:0px;padding-bottom:0px;border-radius:15px;"></video>
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      <p><a href="https://robotics-transformer-x.github.io" id="rtx">
      <span class="paper-title">Open X-Embodiment: Robotic Learning Datasets and RT-X Models</span></a><br>
      Open X-Embodiment Collaboration led by Google DeepMind<br>
      ICRA 2024<br>
      <b style="color:rgb(255, 100, 100);">Best Paper Award</b>
      </p>

      <p>Media Coverage: <a href="https://deepmind.google/discover/blog/scaling-up-learning-across-many-different-robot-types/">Google DeepMind</a></p>
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    <td width="40%" valign="top" align="center"><a href="https://robot-parkour.github.io">
    <video playsinline autoplay loop muted src="images/parkour-clip.mp4" poster="./images/loading-icon.gif" alt="sym" width="90%" style="padding-top:0px;padding-bottom:0px;border-radius:15px;"></video>
    </a></td>
    <td width="60%" valign="top">
      <p><a href="https://robot-parkour.github.io" id="PARKOUR">
      <span class="paper-title">Robot Parkour Learning</span></a><br>
      Ziwen Zhuang*, Zipeng Fu*, Jianren Wang, Chris Atkeson, Sören Schwertfeger, Chelsea Finn, Hang Zhao<br>
      CoRL 2023 (Oral)<br>
      <b style="color:rgb(255, 100, 100);">Best Systems Paper Award Finalist (top 3)</b>
      </p>

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    <td width="40%" valign="top" align="center"><a href="https://manipulation-locomotion.github.io">
    <video playsinline autoplay loop muted src="images/wbc-clip.mp4" poster="./images/loading-icon.gif" alt="sym" width="90%" style="padding-top:0px;padding-bottom:0px;border-radius:15px;"></video>
    </a></td>
    <td width="60%" valign="top">
      <p><a href="https://manipulation-locomotion.github.io" id="MANIPLOCO">
      <span class="paper-title">Deep Whole-Body Control: Learning a Unified Policy for Manipulation and Locomotion</span></a><br>
      Zipeng Fu*, Xuxin Cheng*, Deepak Pathak<br>
      CoRL 2022 (Oral)<br>
      <b style="color:rgb(255, 100, 100);">Best Systems Paper Award Finalist (top 4)</b>
      </p>

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    <td width="40%" valign="top" align="center"><a href="https://navigation-locomotion.github.io/">
    <video playsinline autoplay loop muted src="images/nav-clip.mp4" poster="./images/loading-icon.gif" alt="sym" width="90%" style="padding-top:0px;padding-bottom:0px;border-radius:15px;"></video>
    </a></td>
    <td width="60%" valign="top">
      <p><a href="https://navigation-locomotion.github.io/" id="NAVLOCO">
      <span class="paper-title">Coupling Vision and Proprioception for Navigation of Legged Robots</span></a><br>
      Zipeng Fu*, Ashish Kumar*, Ananye Agarwal, Haozhi Qi, Jitendra Malik, Deepak Pathak<br>
      CVPR 2022<br>
      <b>Best Paper at Multimodal Learning Workshop</b>
      </p>

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    <td width="40%" valign="top" align="center"><a href="https://energy-locomotion.github.io/">
    <video playsinline autoplay loop muted src="images/gait-clip.mp4" alt="sym" width="90%" style="padding-top:0px;padding-bottom:0px;border-radius:15px;"></video>
    </a></td>
    <td width="60%" valign="top">
      <p><a href="https://energy-locomotion.github.io/" id="ENERGYLOCO">
      <span class="paper-title">Minimizing Energy Consumption Leads to the Emergence of Gaits in Legged Robots</span></a><br>
      Zipeng Fu, Ashish Kumar, Jitendra Malik, Deepak Pathak<br>
      CoRL 2021
      </p>

    </td>
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    <td width="40%" valign="top" align="center"><a href="https://ashish-kmr.github.io/rma-legged-robots/">
      <video playsinline autoplay loop muted src="images/rma-clip.mp4" alt="sym" width="90%" style="padding-top:0px;padding-bottom:0px;border-radius:15px;"></video>
    </a></td>
    <td width="60%" valign="top">
      <p><a href="https://ashish-kmr.github.io/rma-legged-robots/" id="RMA">
      <span class="paper-title">RMA: Rapid Motor Adaptation for Legged Robots</span></a><br>
      Ashish Kumar, Zipeng Fu, Deepak Pathak, Jitendra Malik<br>
      RSS 2021
      </p>

      <p>
        Media Coverage: <a href="https://ai.facebook.com/blog/ai-now-enables-robots-to-adapt-rapidly-to-changing-real-world-conditions"> Facebook AI</a> |
        <a href="https://www.wsj.com/articles/ai-gives-robots-more-room-to-roam-11625832001">Wall Street Journal</a> |
        <a href="https://techcrunch.com/2021/07/09/stumble-proof-robot-adapts-to-challenging-terrain-in-real-time/?tpcc=ECTW2020">TechCrunch</a> |
        <a href="https://www.forbes.com/sites/martineparis/2021/07/09/facebook-robots-are-getting-smarter-watch-them-in-the-wild-video/?sh=3997033644ef">Forbes</a> |
        <a href="https://www.washingtonpost.com/technology/2021/07/12/facebook-ai-robotics/">Washington Post</a> |
        <a href="https://www.darpa.mil/news-events/2022-22-06">DARPA</a> |
        <a href="https://www.cnet.com/news/facebook-teaches-ai-powered-robot-to-adapt-while-walking/">CNet</a> |
        <a href="https://www.jiqizhixin.com/articles/2021-07-11">Synced Review</a> |
        <a href="https://engineering.berkeley.edu/news/2021/07/rapid-motor-adaptation-enables-robots-to-navigate-real-world/">UC Berkeley</a> |
        <a href="https://www.cmu.edu/news/stories/archives/2021/july/legged-robots-adapt.html">CMU</a>
      </p>
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    Website template from <a href="http://www.cs.berkeley.edu/~barron/">here</a> and <a href="http://www.cs.cmu.edu/~dpathak/">here</a>
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