Publications

2026

Preview for CoHuB: A Simulation Benchmark for Multi-Humanoid Collaboration

CoHuB: A Simulation Benchmark for Multi-Humanoid Collaboration

Hyunjin Park*, Jebeom Chae*, Minwoo Park*, ..., Hanjun Yoo, ..., Youngwoon Lee, Jongeun Choi

arXiv 2026 / Paper / Website

Preview for SimVLA: Zero-Shot Sim-to-Real VLA Learning for Mobile Manipulation

SimVLA: Zero-Shot Sim-to-Real VLA Learning for Mobile Manipulation

Kyoungin Baik, Youngwoon Lee

arXiv 2026 / Paper / Website / Code

Preview for Recursive Value Learning for Long-Horizon Offline Goal-Conditioned RL

Recursive Value Learning for Long-Horizon Offline Goal-Conditioned RL

Hyeonseong Jeon, Youngwoon Lee

arXiv 2026 / Paper / Website / Code / X

Preview for ComPose: When to Trust Hands for Object Pose Tracking

ComPose: When to Trust Hands for Object Pose Tracking

Jisu Shin, Junoh Lee, JunGyu Lee, Inhwan Bae, Dohyeon Lee, Hokyun Im, Youngwoon Lee, Hae-Gon Jeon

NeurIPS 2026 / Paper / Website / Code

Preview for Latent Policy Steering through One-Step Flow Policies

Latent Policy Steering through One-Step Flow Policies

Hokyun Im, Andrey Kolobov, Jianlong Fu, Youngwoon Lee

RSS 2026 / Paper / Website / Code

Preview for Chunk-Guided Q-Learning

Chunk-Guided Q-Learning

Gwanwoo Song, Kwanyoung Park, Youngwoon Lee

ICML 2026 / Paper / Website / Code

Preview for Scalable Offline Model-Based RL with Action Chunks

Scalable Offline Model-Based RL with Action Chunks

Kwanyoung Park, Seohong Park, Youngwoon Lee, Sergey Levine

ICLR 2026 / Paper / Website / Code

Preview for TwinVLA: Data-Efficient Bimanual Manipulation with Twin Single-Arm Vision-Language-Action Models

TwinVLA: Data-Efficient Bimanual Manipulation with Twin Single-Arm Vision-Language-Action Models

Hokyun Im, Euijin Jeong, Andrey Kolobov, Jianlong Fu, Youngwoon Lee

ICLR 2026 / Paper / Website / Code

2025

Preview for UniSkill: Imitating Human Videos via Cross-Embodiment Skill Representations

UniSkill: Imitating Human Videos via Cross-Embodiment Skill Representations

Hanjung Kim*, Jaehyun Kang*, Hyolim Kang, Meedeum Cho, Seon Joo Kim, Youngwoon Lee

CoRL 2025 / Paper / Website / Code / X

Preview for RoboArena: Distributed Real-World Evaluation of Generalist Robot Policies

RoboArena: Distributed Real-World Evaluation of Generalist Robot Policies

Pranav Atreya*, Karl Pertsch*, Tony Lee*, ..., Meedeum Cho, ..., Youngwoon Lee, Percy Liang, Chelsea Finn, Sergey Levine

CoRL 2025 / Paper / Website / Code / X / Oral Presentation

Preview for Model-based Offline Reinforcement Learning with Lower Expectile Q-Learning

Model-based Offline Reinforcement Learning with Lower Expectile Q-Learning

Kwanyoung Park, Youngwoon Lee

ICLR 2025 / Paper / Website / Code / X

2024

Preview for TLDR: Unsupervised Goal-Conditioned RL via Temporal Distance-Aware Representations

TLDR: Unsupervised Goal-Conditioned RL via Temporal Distance-Aware Representations

Junik Bae, Kwanyoung Park, Youngwoon Lee

CoRL 2024 / Paper / Website / Code / X

Preview for The Power of the Senses: Generalizable Manipulation from Vision and Touch through Masked Multimodal Learning

The Power of the Senses: Generalizable Manipulation from Vision and Touch through Masked Multimodal Learning

Carmelo Sferrazza, Younggyo Seo, Hao Liu, Youngwoon Lee, Pieter Abbeel

IROS 2024 / Paper / Website / Code / X

Preview for HumanoidBench: Simulated Humanoid Benchmark for Whole-Body Locomotion and Manipulation

HumanoidBench: Simulated Humanoid Benchmark for Whole-Body Locomotion and Manipulation

Carmelo Sferrazza, Dun-Ming Huang, Xingyu Lin, Youngwoon Lee, Pieter Abbeel

RSS 2024 / Paper / Website / Code / X

Preview for DROID: A Large-Scale In-the-Wild Robot Manipulation Dataset

DROID: A Large-Scale In-the-Wild Robot Manipulation Dataset

Alexander Khazatsky*, Karl Pertsch*, ..., Youngwoon Lee, ..., Chelsea Finn

RSS 2024 / Paper / Website / Code / X

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

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

Open X-Embodiment Collaboration, ..., Youngwoon Lee, ...

ICRA 2024 / Paper / Website / X 1 / X 2 / Best Conference Paper Award

Preview for DreamSmooth: Improving Model-based Reinforcement Learning via Reward Smoothing

DreamSmooth: Improving Model-based Reinforcement Learning via Reward Smoothing

Vint Lee, Pieter Abbeel, Youngwoon Lee

ICLR 2024 / Paper / Website / Code / X

2023

Preview for Video Prediction Models as Rewards for Reinforcement Learning

Video Prediction Models as Rewards for Reinforcement Learning

Alejandro Escontrela*, Ademi Adeniji*, Wilson Yan*, Ajay Jain, Xue Bin Peng, Ken Goldberg, Youngwoon Lee, Danijar Hafner, Pieter Abbeel

NeurIPS 2023 / Paper / Website / Code / X

Preview for Language-Conditioned Path Planning

Language-Conditioned Path Planning

Amber Xie, Youngwoon Lee, Pieter Abbeel, Stephen James

CoRL 2023 / Paper / Website / Code / Video / X

Preview for Controllability-Aware Unsupervised Skill Discovery

Controllability-Aware Unsupervised Skill Discovery

Seohong Park, Kimin Lee, Youngwoon Lee, Pieter Abbeel

ICML 2023 / Paper / Website / Code 1 / Code 2 / X

Preview for FurnitureBench: Reproducible Real-World Benchmark for Long-Horizon Complex Manipulation

FurnitureBench: Reproducible Real-World Benchmark for Long-Horizon Complex Manipulation

Minho Heo*, Youngwoon Lee*, Doohyun Lee, Joseph J. Lim

RSS 2023 / Paper / Website / Code / Talk / X / Best System Paper Award

IJRR 2025 / Paper

Preview for PATO: Policy Assisted TeleOperation for Scalable Robot Data Collection

PATO: Policy Assisted TeleOperation for Scalable Robot Data Collection

Shivin Dass*, Karl Pertsch*, Hejia Zhang, Youngwoon Lee, Joseph J. Lim, Stefanos Nikolaidis

RSS 2023 / Paper / Website / Code / X

2022

Preview for Scaling Robot Learning with Skills

Scaling Robot Learning with Skills

Youngwoon Lee

Ph.D. Dissertation / Paper / Slides

Preview for Skill-based Model-based Reinforcement Learning

Skill-based Model-based Reinforcement Learning

Lucy X. Shi, Joseph J. Lim, Youngwoon Lee

CoRL 2022 / Paper / Website / Code / X

2021

Preview for Generalizable Imitation Learning from Observation via Inferring Goal Proximity

Generalizable Imitation Learning from Observation via Inferring Goal Proximity

Youngwoon Lee*, Andrew Szot*, Shao-Hua Sun, Joseph J. Lim

NeurIPS 2021 / Paper / Website / Code

Preview for Adversarial Skill Chaining for Long-Horizon Robot Manipulation via Terminal State Regularization

Adversarial Skill Chaining for Long-Horizon Robot Manipulation via Terminal State Regularization

Youngwoon Lee, Joseph J. Lim, Anima Anandkumar, Yuke Zhu

CoRL 2021 / Paper / Website / Code

Preview for Demonstration-Guided Reinforcement Learning with Learned Skills

Demonstration-Guided Reinforcement Learning with Learned Skills

Karl Pertsch, Youngwoon Lee, Yue Wu, Joseph J. Lim

CoRL 2021 / Paper / Website / Code

Preview for Distilling Motion Planner Augmented Policies into Visual Control Policies for Robot Manipulation

Distilling Motion Planner Augmented Policies into Visual Control Policies for Robot Manipulation

I-Chun Arthur Liu*, Shagun Uppal*, Gaurav S. Sukhatme, Joseph J. Lim, Peter Englert, Youngwoon Lee

CoRL 2021 / Paper / Website / Code

Preview for Policy Transfer across Visual and Dynamics Domain Gaps via Iterative Grounding

Policy Transfer across Visual and Dynamics Domain Gaps via Iterative Grounding

Grace Zhang, Linghan Zhong, Youngwoon Lee, Joseph J. Lim

RSS 2021 / Paper / Website / Code / Talk

Preview for IKEA Furniture Assembly Environment for Long-Horizon Complex Manipulation Tasks

IKEA Furniture Assembly Environment for Long-Horizon Complex Manipulation Tasks

Youngwoon Lee, Edward S. Hu, Joseph J. Lim

ICRA 2021 / Paper / Website / Code

2020

Preview for Accelerating Reinforcement Learning with Learned Skill Priors

Accelerating Reinforcement Learning with Learned Skill Priors

Karl Pertsch, Youngwoon Lee, Joseph J. Lim

CoRL 2020 / Paper / Website / Code / Talk / Plenary Talk, Best Paper Presentation Award

Preview for Motion Planner Augmented Reinforcement Learning for Robot Manipulation in Obstructed Environments

Motion Planner Augmented Reinforcement Learning for Robot Manipulation in Obstructed Environments

Jun Yamada*, Youngwoon Lee*, Gautam Salhotra, Karl Pertsch, Max Pflueger, Gaurav S. Sukhatme, Joseph J. Lim, Peter Englert

CoRL 2020 / Paper / Website / Code

Preview for Learning to Coordinate Manipulation Skills via Skill Behavior Diversification

Learning to Coordinate Manipulation Skills via Skill Behavior Diversification

Youngwoon Lee, Jingyun Yang, Joseph J. Lim

ICLR 2020 / Paper / Website / Code

2019

Preview for To Follow or not to Follow: Selective Imitation Learning from Observations

To Follow or not to Follow: Selective Imitation Learning from Observations

Youngwoon Lee, Edward S. Hu, Zhengyu Yang, Joseph J. Lim

CoRL 2019 / Paper / Website / Spotlight

Preview for Composing Complex Skills by Learning Transition Policies

Composing Complex Skills by Learning Transition Policies

Youngwoon Lee*, Shao-Hua Sun*, Sriram Somasundaram, Edward S. Hu, Joseph J. Lim

ICLR 2019 / Paper / Website / Code

2015

Preview for Kids in Fairytales: Experiential and Interactive Storytelling in Children's Libraries

Kids in Fairytales: Experiential and Interactive Storytelling in Children's Libraries

Seokbin Kang, Youngwoon Lee, Suwoong Lee

SIGCHI Work-in-Progress 2015 / Paper

2013

Preview for Stereotype-based Semantic Expansion for Image Retrieval

Stereotype-based Semantic Expansion for Image Retrieval

Junging Lee, OSung Kwon, Youngwoon Lee, Sung-Eui Yoon

ICME Workshop 2013 / Paper / Website

2012

Preview for Quadra-Embedding: Binary Code Embedding with Low Quantization Error

Quadra-Embedding: Binary Code Embedding with Low Quantization Error

Youngwoon Lee, Jae-Pil Heo, Sung-Eui Yoon

ACCV 2012 / Paper / Website / Code / Slides / Oral Presentation

CVIU 2014 / Paper

Preview for Spherical Hashing

Spherical Hashing

Jae-Pil Heo, Youngwoon Lee, Junfeng He, Shih-Fu Chang, Sung-Eui Yoon

CVPR 2012 / Paper / Website / Code

TPAMI 2015 / Paper