Andy Zeng

Andy is a co-founder at Generalist. Before that, he was a research scientist and tech lead at Google DeepMind – and before that, a student at Princeton and UC Berkeley. Andy has worked on training large-scale robotics Foundation models, developing robots that write their own code, and inventing handheld data collection for robots.


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andyzeng at generalistai dot com

Video Language Planning

Yilun Du, Mengjiao Yang, Pete Florence, Fei Xia, Ayzaan Wahid, Brian Ichter, Pierre Sermanet, Tianhe Yu, Pieter Abbeel, Joshua B. Tenenbaum, Leslie Kaelbling, Andy Zeng, Jonathan
Tompson
International Conference on Learning Representations (ICLR) 2024
Webpage  •   PDF  •   Code

PaLM-E: An Embodied Multimodal Language Model

Danny Driess, Fei Xia, Mehdi S. M. Sajjadi, Corey Lynch, Aakanksha Chowdhery, Brian Ichter, Ayzaan Wahid, Jonathan Tompson, Quan Vuong, Tianhe Yu, Wenlong Huang, Yevgen Chebotar, Pierre Sermanet, Daniel Duckworth, Sergey Levine, Vincent Vanhoucke, Karol Hausman, Marc Toussaint, Klaus Greff, Andy Zeng, Igor Mordatch, Pete Florence
International Conference on Machine Learning (ICML) 2023
Webpage  •   PDF  •   Demo  •   Google AI Blog

Code as Policies: Language Model Programs for Embodied Control

Jacky Liang, Wenlong Huang, Fei Xia, Peng Xu, Karol Hausman, Brian Ichter, Pete Florence, Andy Zeng
IEEE International Conference on Robotics and Automation (ICRA) 2023
★ Outstanding Learning Paper Award, ICRA ★
Webpage  •   PDF  •   Code  •   Colab  •   Google AI Blog  •   TechCrunch  •   AXIOS

Grasping in the Wild: Learning 6DoF Closed-Loop Grasping from Low-Cost Demonstrations

Shuran Song, Andy Zeng, Johnny Lee, Thomas Funkhouser
IEEE International Conference on Intelligent Robots and Systems (IROS) 2020
IEEE Robotics and Automation Letters (RA-L) 2020
Webpage  •   PDF

TossingBot: Learning to Throw Arbitrary Objects with Residual Physics

Andy Zeng, Shuran Song, Johnny Lee, Alberto Rodriguez, Thomas Funkhouser
Robotics: Science and Systems (RSS) 2019
IEEE Transactions on Robotics (T-RO) 2020
★ Best Paper Award, T-RO & Best Systems Paper Award, RSS ★
Webpage  •   PDF  •   Google AI Blog  •   New York Times  •   IEEE Spectrum

Robotic Pick-and-Place of Novel Objects in Clutter with Multi-Affordance Grasping and Cross-Domain Image Matching

Andy Zeng, Shuran Song, Kuan-Ting Yu, Elliott Donlon, Francois R. Hogan, Maria Bauza, Daolin Ma, Orion Taylor, Melody Liu, Eudald Romo, Nima Fazeli, Ferran Alet, Nikhil Chavan Dafle, Rachel Holladay, Isabella Morona, Prem Qu Nair, Druck Green, Ian Taylor, Weber Liu, Thomas Funkhouser, Alberto Rodriguez
IEEE International Conference on Robotics and Automation (ICRA) 2018
The International Journal of Robotics Research (IJRR) 2019
★ 1st Place (Stow Task), Amazon Robotics Challenge 2017 ★
Webpage  •   PDF  •   Code  •   MIT News  •   Engadget

2023

EMNLP Workshop on RoboNLP

ICRA Round-Table Discussion with Science Robotics

Panel on Northwestern Grand Challenges in Robotics (video)

2022

CoRL Workshop on Language and Robot Learning (video)

NeurIPS Workshop on Robot Learning (video)

NeurIPS Workshop on Habitat Rearrangement Challenge

Princeton Robotics Seminar

RSS Workshop on Implicit Representations (video)

CVPR Tutorial on Vision-Based Robot Learning

2021

CVPR Workshop on 3D Vision and Robotics

2020

RSS Workshop on Self-Supervised Robot Learning

RSS Workshop on Robotics Retrospectives (video)

2019

Amazon Research Robotics Symposium

Guest Lecture at NCTU Robotics Seminar: Robotic Manipulation

2024

IEEE Robotics and Automation (RAS) Early Career Award

Human-Robot Interaction (HRI) Best Paper Award (Technical Track)

IEEE International Conference on Intelligent Robots and Systems (IROS) RoboCup Best Paper Award

2023

Conference on Robot Learning (CoRL) Best Student Paper Award

Associate Editor, IEEE Robotics and Automation Letters (RA-L)

Robotics: Science and Systems (RSS) Best Demo Paper Award Finalist

Demo, Robotics: Science and Systems (RSS) - Large Language Models on Robots (memories)

Co-Organizer, RSS Workshop on Articulate Robots

IEEE International Conference on Robotics and Automation (ICRA) Outstanding Learning Paper Award

Associate Editor, IEEE International Conference on Robotics and Automation (ICRA)

Demo, Google I/O - Code as Policies with PaLI and PaLM 2 (memories)

Co-Organizer, AAAI Tutorial on Everything You Need to Know about Transformers

2022

Conference on Robot Learning (CoRL) Special Innovation Award

Area Chair, Conference on Robot Learning (CoRL)

Co-Organizer, CoRL Workshop on Pre-training Robot Learning

Co-Organizer, CoRL Workshop on Inductive Bias in Robot Learning

Google AI@ Event Code as Policies debut (memories) - AXIOS, TechCrunch, ZDNet (60+ articles)

Session Chair, Robotics: Science and Systems (RSS)

Co-Organizer, 2nd RSS Workshop on Scaling Robot Learning

Sponsor, Google Research Scholar Program

Co-Organizer, CVPR Tutorial on Vision-Based Robot Learning

Session Chair, IEEE International Conference on Robotics and Automation (ICRA)

Co-Organizer, ICRA Workshop on Scaling Robot Learning

Google Research PaLM-SayCan debut - Wired, Washington Post, The Verge (260+ articles)

Google AI blog post "Robot See, Robot Do"

2021

Conference on Robot Learning (CoRL) Best Paper Award Finalist

Session Chair, IEEE International Conference on Robotics and Automation (ICRA)

Co-Organizer, RSS Workshop on Advancing AI and Manipulation for Robotics

Area Chair, Conference on Robot Learning (CoRL)

Sponsor, Google Research Scholar Program

Japan Factory Automation (FA) Foundation Paper Award

Google AI blog post "Rearranging the Visual World"

2020

IEEE Transactions on Robotics (T-RO) Best Paper Award

Conference on Robot Learning (CoRL) Best Paper Presentation Award Finalist

IEEE International Conference on Robotics and Automation (ICRA) Best Paper in Automation Award Finalist

Sponsor, Google Faculty Research Awards

2019

New York Times article "A New Lab Full of Fast Learners" (100+ articles)

Robotics: Science and Systems (RSS) Best System Paper Award

2018

Honored to be a recipient of the Princeton SEAS Award for Excellence

Demo, Google TGIF - TossingBot (memories)

IEEE International Conference on Intelligent Robots and Systems (IROS) Best Cognitive Paper Award Finalist

Amazon Robotics Best System Paper Award

Honored to be a recipient of the NVIDIA Fellowship

2017

1st place winners (stow) at the worldwide Amazon Picking Challenge 2017 with Team MIT-Princeton

2016

3rd place winners at the worldwide Amazon Picking Challenge 2016 with Team MIT-Princeton

Co-Organizer, CVPR Workshop on 3D Deep Learning

2015

Honored to be a recipient of the Gordon Y.S. Wu Fellowship in Engineering and Wu Prize

2015+

Reviewer, T-RO, RSS, CoRL, IJRR, RA-L, ICRA, NeurIPS, CVPR, IROS, ECCV, ICCV

Reviewer, SIGGRAPH, PR Journal, Eurographics, TMM, TIP, CASE, TCSVT

Member, IEEE