Want to achieve extreme performance in motion tracking—and go beyond it? Our preprint tech report is now online, with open-source code available!

Introducing HEAD🤖, an autonomous navigation and reaching system for humanoid robots, which allows the robot to navigate around obstacles and touch an object in the environment. More details on our website and CoRL paper: stanford-tml.github.io/HEAD

We're hiring interns (and full-times) all year long! Please email me if interested.

Excited to share that I'll be joining UT Austin in Fall 2026 as an Assistant Professor with UT Mech Engineering Texas Robotics! I'm looking for PhD students interested in humanoids, dexterous manipulation, tactile sensing, and robot learning in general -- consider applying this cycle!

ResMimic: a two-stage residual framework that unleashes the power of pre-trained general motion tracking policy. Enable expressive whole-body loco-manipulation with payloads up to 5.5kg without task-specific design, generalize across poses, and exhibit reactive behavior.

Simulation drives robotics progress, but how do we close the reality gap? Introducing GaussGym: an open-source framework for learning locomotion from pixels with ultra-fast parallelized photorealistic rendering across >4,000 iPhone, GrandTour, ARKit, and Veo scenes! Thread 🧵

How can we standardize conditioning signals in image/video models to achieve the iterative editing & portability that Universal Scene Descriptors provide in graphics? Introducing Neural USD: An object-centric framework for iterative editing & control 🧵

Excited to introduce TWIST2, our next-generation humanoid data collection system. TWIST2 is portable (use anywhere, no MoCap), scalable (100+ demos in 15 mins), and holistic (unlock major whole-body human skills). Fully open-sourced: yanjieze.com/TWIST2

one of the best moments at BAIR lab actually never imagined to spot prof Hongsuk Benjamin Choi on a random day

Meet BFM-Zero: A Promptable Humanoid Behavioral Foundation Model w/ Unsupervised RL👉 lecar-lab.github.io/BFM-Zero/ 🧩ONE latent space for ALL tasks ⚡Zero-shot goal reaching, tracking, and reward optimization (any reward at test time), from ONE policy 🤖Natural recovery & transition