Duan, Jiafei

1. A Survey of Embodied AI: From Simulators to Research Tasks
   2021/03/08 by Jiafei Duan, Samson Yu, Duan, Jiafei +7 · 48 citations
   Computer Science · #Artificial Intelligence (cs.AI) #FOS: Computer and information sciences #Human Pose and Action Recognition #Machine Learning (cs.LG) #Multimodal Machine Learning Applications #Reinforcement Learning in Robotics
2. RoboPoint: A Vision-Language Model for Spatial Affordance Prediction for Robotics
   2024/06/15 by Wentao Yuan, Yuan, Wentao, Jiafei Duan +13 · 76 citations
   Engineering · Computer Science · #Autonomous Vehicle Technology and Safety #Anomaly Detection Techniques and Applications #Robot Manipulation and Learning
3. THE COLOSSEUM: A Benchmark for Evaluating Generalization for Robotic Manipulation
   2024/02/13 by Pumacay, Wilbert, Singh, Ishika, Duan, Jiafei +3 · 36 citations
   #Artificial Intelligence (cs.AI) #FOS: Computer and information sciences #Machine Learning (cs.LG) #Robotics (cs.RO)
4. AHA: A Vision-Language-Model for Detecting and Reasoning Over Failures in Robotic Manipulation
   2024/10/01 by Jiafei Duan, Duan, Jiafei, Wilbert Pumacay +17 · 36 citations
   Engineering · #FOS: Computer and information sciences #Robot Manipulation and Learning #Robotics (cs.RO)
5. SAT: Dynamic Spatial Aptitude Training for Multimodal Language Models
   2024/12/10 by Ray, Arijit, Duan, Jiafei, Brown, Ellis +9 · 36 citations
   #Artificial Intelligence (cs.AI) #Computer Vision and Pattern Recognition (cs.CV) #FOS: Computer and information sciences #Graphics (cs.GR) #Robotics (cs.RO)
6. Manipulate-Anything: Automating Real-World Robots using Vision-Language Models
   2024/06/27 by Jiafei Duan, Duan, Jiafei, Wentao Yuan +11 · 25 citations
   Computer Science · #Advanced Image and Video Retrieval Techniques #Computer Vision and Pattern Recognition (cs.CV) #FOS: Computer and information sciences #Multimodal Machine Learning Applications #Robotic Path Planning Algorithms #Robotics (cs.RO)
7. NEWTON: Are Large Language Models Capable of Physical Reasoning?
   2023/10/10 by Yi Ru Wang, Wang, Yi Ru, Jiafei Duan +5 · 12 citations
   Computer Science · #Topic Modeling #Natural Language Processing Techniques
8. MolmoAct: Action Reasoning Models that can Reason in Space
   2025/08/11 by Jason Lee, Jiafei Duan, Lee, Jason +34 · 48 citations
   Computer Science · Engineering · #FOS: Computer and information sciences #Multimodal Machine Learning Applications #Reinforcement Learning in Robotics #Robot Manipulation and Learning #Robotics (cs.RO)
9. SAM2Act: Integrating Visual Foundation Model with A Memory Architecture for Robotic Manipulation
   2025/01/30 by Haoquan Fang, Markus Grotz, Fang, Haoquan +11 · 19 citations
   Engineering · Computer Science · #Robot Manipulation and Learning #Robotics and Automated Systems #Robotic Path Planning Algorithms
10. AR2-D2:Training a Robot Without a Robot
    2023/06/23 by Jiafei Duan, Yi Ru Wang, Duan, Jiafei +7 · 7 citations
    Computer Science · Psychology · #Reinforcement Learning in Robotics #Social Robot Interaction and HRI #AI in Service Interactions
11. Octopi: Object Property Reasoning with Large Tactile-Language Models
    2024/05/05 by Samson Yu, Yu, Samson, Kelvin Lin +7 · 9 citations
    Computer Science · Engineering · #BIM and Construction Integration #FOS: Computer and information sciences #Multimodal Machine Learning Applications #Reinforcement Learning in Robotics #Robotics (cs.RO)
12. PointArena: Probing Multimodal Grounding Through Language-Guided Pointing
    2025/05/15 by Long Cheng, Jiafei Duan, Cheng, Long +27 · 9 citations
    Computer Science · Psychology · Engineering · #Multimodal Machine Learning Applications #Social Robot Interaction and HRI #Robot Manipulation and Learning
13. A Survey on Machine Learning Approaches for Modelling Intuitive Physics
    2022/02/14 by Duan, Jiafei, Dasgupta, Arijit, Fischer, Jason +1 · 2 citations
    #Artificial Intelligence (cs.AI) #FOS: Computer and information sciences #Machine Learning (cs.LG)
14. Selective Visual Representations Improve Convergence and Generalization for Embodied AI
    2023/11/07 by Ainaz Eftekhar, Kuo-Hao Zeng, Eftekhar, Ainaz +9 · 3 citations
    Computer Science · #Artificial Intelligence (cs.AI) #Computer Vision and Pattern Recognition (cs.CV) #Domain Adaptation and Few-Shot Learning #Explainable Artificial Intelligence (XAI) #FOS: Computer and information sciences #Multimodal Machine Learning Applications
15. BOSS: A Benchmark for Human Belief Prediction in Object-context Scenarios
    2022/06/21 by Duan, Jiafei, Yu, Samson, Tan, Nicholas +2 · 2 citations
    #Computer Vision and Pattern Recognition (cs.CV) #FOS: Computer and information sciences
16. RoboEval: Where Robotic Manipulation Meets Structured and Scalable Evaluation
    2025/07/01 by Yi Ru Wang, Wang, Yi Ru, Ung, Carter +19 · 7 citations
    Engineering · Neuroscience · Computer Science · #Robot Manipulation and Learning #Motor Control and Adaptation #Reinforcement Learning in Robotics
17. The One RING: a Robotic Indoor Navigation Generalist
    2024/12/18 by Ainaz Eftekhar, Eftekhar, Ainaz, Rose Hendrix +24 · 5 citations
    Computer Science · Engineering · #Robotic Path Planning Algorithms #Robotics and Sensor-Based Localization
18. RoboMD: Uncovering Robot Vulnerabilities through Semantic Potential Fields
    2024/12/03 by Som Sagar, Sagar, Som, Duan, Jiafei +5 · 5 citations
    Computer Science · #FOS: Computer and information sciences #Machine Learning (cs.LG) #Online Learning and Analytics #Reinforcement Learning in Robotics #Robotics (cs.RO)
19. EVE: Enabling Anyone to Train Robots using Augmented Reality
    2024/04/09 by Wang, Jun, Chang, Chun-Cheng, Duan, Jiafei +2 · 2 citations
    #FOS: Computer and information sciences #Human-Computer Interaction (cs.HC) #Robotics (cs.RO)
20. FailSafe: Reasoning and Recovery from Failures in Vision-Language-Action Models
    2025/10/02 by Zijun Lin, Jiafei Duan, Lin, Zijun +11 · 5 citations
    Computer Science · #Semantic Web and Ontologies
21. AVoE: A Synthetic 3D Dataset on Understanding Violation of Expectation for Artificial Cognition
    2021/10/12 by Dasgupta, Arijit, Duan, Jiafei, Ang, Marcelo H. +1 · 1 citation
    #Artificial Intelligence (cs.AI) #Computer Vision and Pattern Recognition (cs.CV) #FOS: Computer and information sciences #I.2.10
22. A Benchmark for Modeling Violation-of-Expectation in Physical Reasoning Across Event Categories
    2021/11/16 by Arijit Dasgupta, Dasgupta, Arijit, Jiafei Duan +10 · 1 citation
    Computer Science · #Artificial Intelligence (cs.AI) #Bayesian Modeling and Causal Inference #Computer Vision and Pattern Recognition (cs.CV) #Explainable Artificial Intelligence (XAI) #FOS: Computer and information sciences #I.2.10 #Multimodal Machine Learning Applications
23. GraspMolmo: Generalizable Task-Oriented Grasping via Large-Scale Synthetic Data Generation
    2025/05/19 by A. Deshpande, Deshpande, Abhay, Deng, Yuquan +16 · 5 citations
    Engineering · Neuroscience · Psychology · #Robot Manipulation and Learning #Motor Control and Adaptation #Action Observation and Synchronization