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GeezerVison is showing allenzren.github.io — Allen Z. Ren - Princeton Allen Z. Ren
Hi there! I'm currently at Physical Intelligence (π) building generalist robot policies, AI models that power any robot to perform any task in the real world.
Princeton Porter Ogden Jacobus Fellowship
MIT Technology Review article "These robots know when to ask for help"
Quanta Magazine article "Machines
Learn Better if We Teach Them the Basics"
Princeton News article "Machine
learning guarantees robots' performance in unknown territory"
2025 Joined Physical Intelligence as a Member of Technical Staff at SF.
Received PhD from Princeton. Thesis: Towards Robust and Provably Generalizable Robot Learning. YouTube
2024 Honored to receive the Porter Ogden Jacobus Fellowship, highest honor for grad student at Princeton
Summer research internship at Nvidia Autonomous Driving Research
Scientific American "Scientists Are Putting ChatGPT Brains Inside Robot Bodies. What Could Possibly Go Wrong?"
2023 Conference on Robot Learning (CoRL) Best Student Paper Award
Visiting PhD student at ILIAD Lab at Stanford with Dorsa Sadigh
Student researcher at Google DeepMind with Andy Zeng
MIT Technology Review article "These robots know when to ask for help"
Princeton School of Engineering and Applied Science Award For Excellence
Princeton News article "How do you make a robot smarter? Program it to know what it doesn't know"
Quanta Magazine article "Machines
Learn Better if We Teach Them the Basics"
Princeton News article "Small,
efficient sensors help drones fly in high winds"
Princeton News article "Words
prove their worth as teaching tools for robots"
Harari Fellowship for excellence in graduate studies, Princeton University
Crocco Prize for outstanding assistantship in instruction, Princeton
University
2020 Princeton News article "Machine learning guarantees robots' performance in unknown territory"2019 B.S. in Mechanical Engineering, Minor in Mathematics, M.S.E. in Robotics, Johns Hopkins University
Graduated with Robert James F. Bell Award, George Gerstmyer Award, ASME Best
Senior Design Project Award
2018 Robotics Institute Summer Scholars, Carnegie Mellon University
Show more
π0.5: a Vision-Language-Action Model with Open-World Generalization
Physical Intelligence team
Knowledge Insulating Vision-Language-Action Models: Train Fast, Run Fast, Generalize Better
Danny Driess, Jost Tobias Springenberg, Brian Ichter, Lili Yu, Adrian Li-Bell, Karl Pertsch, Allen Z. Ren, Homer Walke, Quan Vuong, Lucy Xiaoyang Shi, Sergey Levine
Guiding Data Collection via Factored Scaling Curves
Lihan Zha, Apurva Badithela, Michael Zhang, Justin Lidard, Jeremy Bao, Emily Zhou, David Snyder, Allen Z. Ren, Dhruv Shah, Anirudha Majumdar
Diffusion Policy Policy Optimization
Allen Z. Ren, Justin Lidard, Lars. L. Ankile, Anthony Simeonov, Pulkit Agrawal, Anirudha Majumdar, Benjamin Burchfiel, Hongkai Dai, Max Simchowitz
Run-time Observation Interventions Make Vision-Language-Action Models More Visually Robust
Asher J. Hancock, Allen Z. Ren, Anirudha Majumdar
A Survey on Uncertainty Quantification of Large Language Models: Taxonomy, Open Research Challenges, and Future Directions
Ola Shorinwa, Zhiting Mei, Justin Lidard, Allen Z. Ren, and Anirudha Majumdar
Thinking Forward and Backward: Effective Backward Planning with Large Language Models
Allen Z. Ren, Brian Ichter*, Anirudha Majumdar* *Equal advising
Explore until Confident: Efficient Exploration for Embodied Question Answering
Allen Z. Ren, Jaden Clark, Anushri Dixit, Masha Itkina, Anirudha Majumdar, Dorsa Sadigh
Learning to Learn Faster from Human Feedback with Language Model Predictive Control
Jacky Liang, Fei Xia, Wenhao Yu, Andy Zeng, Montserrat Gonzalez Arenas, Maria Attarian, Maria Bauza, Matthew Bennice, Alex Bewley, Adil Dostmohamed, Chuyuan Kelly Fu, Nimrod Gileadi, Marissa Giustina, Keerthana Gopalakrishnan, Leonard Hasenclever, Jan Humplik, Jasmine Hsu, Nikhil Joshi, Ben Jyenis, Chase Kew, Sean Kirmani, Tsang-Wei Edward Lee, Kuang-Huei Lee, Assaf Hurwitz Michaely, Joss Moore, Ken Oslund, Dushyant Rao, Allen Ren, Baruch Tabanpour, Quan Vuong, Ayzaan Wahid, Ted Xiao, Ying Xu, Vincent Zhuang, Peng Xu, Erik Frey, Ken Caluwaerts, Tingnan Zhang, Brian Ichter, Jonathan Tompson, Leila Takayama, Vincent Vanhoucke, Izhak Shafran, Maja Mataric, Dorsa Sadigh, Nicolas Heess, Kanishka Rao, Nik Stewart, Jie Tan, Carolina Parada
Learning a Universal Human Prior for Dexterous Manipulation from Human Preference
Zihan Ding, Yuanpei Chen, Allen Z. Ren, Shixiang Shane Gu, Hao Dong, Chi Jin
How to Prompt Your Robot: A PromptBook for Manipulation Skills with Code as Policies
Montserrat Gonzalez Arenas, Ted Xiao, Sumeet Singh, Vidhi Jain, Allen Z. Ren, Quan Vuong, Jake Varley, Alexander Herzog, Isabel Leal, Sean Kirmani, Dorsa Sadigh, Vikas Sindhwani, Kanishka Rao, Jacky Liang, Andy Zeng
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
AdaptSim: Task-Driven Simulation Adaptation for Sim-to-Real Transfer
Allen Z. Ren, Hongkai Dai, Benjamin Burchfiel, Anirudha Majumdar
Sim-to-Lab-to-Real: Safe Reinforcement Learning with Shielding and Generalization Guarantees
Kai-Chieh Hsu*, Allen Z. Ren*, Duy Phuong Nguyen, Anirudha Majumdar**, and Jaime F.
Fisac** Leveraging Language for Accelerated Learning of Tool Manipulation
Allen Z. Ren, Bharat Govil, Tsung-Yen Yang, Karthik Narasimhan, and Anirudha Majumdar
FlowDrone: Wind Estimation and Gust Rejection on UAVs Using Fast-Response Hot-Wire Flow Sensors
Nathaniel Simon, Allen Z. Ren, Alexander Pique, David Snyder, Daphne Barretto, Marcus Hultmark,
and Anirudha Majumdar
Failure Prediction with Statistical Guarantees for Vision-Based Robot Control
Alec Farid, David Snyder, Allen Z. Ren, Anirudha Majumdar
Distributionally Robust Policy Learning via Adversarial Environment Generation
Allen Z. Ren, Anirudha Majumdar
Stronger Generalization Guarantees for Robot Learning by Combining Generative Models and Real-World Data
Abhinav Agarwal, Sushant Veer, Allen Z. Ren, and Anirudha Majumdar
Generalization Guarantees for Imitation Learning
Allen Z. Ren, Sushant Veer, and Anirudha Majumdar
Multi-Contact Force-Sensing Guitar for Training and Therapy
Zhiyi Ren, Chun-Cheng Hsu, Can Kocabalkanli, Khanh Nguyen, Iulian I Iordachita, Serap
Bastepe-Gray, Nathan Scott
Toward Robust Stair Climbing of the Quadruped using Proprioceptive Sensing
Zhiyi Ren and Aaron Johnson
Dynamic Traversal of Large Gaps by Insects and Legged Robots Reveals a Template
Sean W. Gart, Changxin Yan, Ratan Othayoth, Zhiyi Ren and Chen Li
Legged Robots Change Locomotor Modes To Traverse 3-D Obstacles With Varied Stiffness
Zhiyi Ren, Ratan Othayoth, and Chen Li
2025 AGIBOT, Astribot, Unitree2024 Google DeepMind, Toyota Research Institute, CAAI Embodied AI Forum2023 Google Brain Princeton, Google Research NYC, ByteDance Robotics, MLBoost Talk2022 Toyota Research Institute2025 Open-sourcing π0 model implementation in PyTorch, Github
Co-organizer, OOD Workshop, RSS
Co-organizer, RoboEval Workshop, RSS
2023 Co-organizer, OOD Workshop, CoRL2020+ Co-organizer, Princeton Robotics Seminar
Webmaster, Robotics at Princeton
Reviewer, AIJ, T-RO, RA-L, NeurIPS, ICML, ICLR, L4DC, CoRL, ICRA, IROS, RSS
I am from Jiangsu, China. My Chinese name is 任至意. As much as I want to use my first name in Chinese, Zhiyi, I find it very difficult to pronounce for non-native speakers.I enjoy watching and playing soccer, hitting the gym, and traveling/backpacking. I am also an aviation enthusiast and hold a private pilot license my story in Chinese. I was a member of the Princeton Flying Club during PhD.Flying up the Hudson River with N3054E on Dec 30, 2022. |
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