
Ph.D. @Berkeley_AI. research intern @physical_int. ex @GoogleDeepMind, @MSFTResearch. vision, generative model, robotics.
Joined July 2022
- Tweets241
- Following579
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Junyi Zhang retweeted
Can diffusion models generate high-quality images without CFG?
Yes! We introduce โจCorrection Training for Diffusion Modelsโจ, which significantly improves sample quality without relying on classifier-free guidance.
Project page: sunovivid.github.io/correctiโฆ
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Junyi Zhang retweeted
Now autoregressive video models can remember. ๐ง
Introducing MosaiChunk: persistent visual memory for long-horizon autoregressive video generation๐งฉ.
Instead of remembering everything, it remembers the right things. โ๏ธ
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Junyi Zhang retweeted
Generation ๐๐๐ก improve understanding!
With the right recipe, we show that training on generation data can help understanding tasks.
Introducing OmniTaskonomy: our year-long study of when and how generation helps understanding.
Junyi Zhang retweeted
Humans generalize from rich interaction experience. We bring this to humanoid loco-manipulation through scalable real-to-sim-to-real.
Introducing PRISM, we expand 4 real videos into 256 counterfactual variants, recover robot-object trajectories, and train one policy that generalizes across diverse objects, scales, and spatial layouts.
CoRLโ26 ๐ Website for details ๐ prism-real2sim2real.github.iโฆ
Work done at Amazon FAR w/ @zhenkirito123 @pabbeel @rocky_duan @JitendraMalikCV @carlo_sferrazza @ckarenliu @GuanyaShi @akanazawa
Junyi Zhang retweeted
Our paper RATs has been selected as CoRL spotlight!
We apply "sleep time scaling" to agentic robotics learning. The agent aquires skills during play and then uses these skills at test time. Check out our project page at : playful-rats.github.io/ @junyi42
Excited to release our new work: Playful Agentic Robot Learning w/ @junyi42!
Instead of relying on test-time scaling, we found that a "pretraining stage" through curious play enables robots to discover general skills before any tasks are assigned.
๐ playful-rats.github.io
Junyi Zhang retweeted
Our paper VisGym has been accepted to NeurIPS 2026!
Itโs been crazy to see how the field has developed since we have released this paper. Hope that VisGym can continue to serve as a diagnostic playground to identify failure pattern for new frontier multimodal agents, and serve for the development of this field.
We release VisGym: 17 environments for training & evaluating VLM interaction! โจ
Interaction is still the bottleneck of VLMs:
Success rates: Gemini-3 26.0% | GPT-5 12.6%.
Kudos to co-lead @zwcolin @junyi42 and the amazing team! @berkeley_ai
Junyi Zhang retweeted
I didn't get what GPT-6 meant for robotics until I actually tried it.
GPT-6 Astra just does physical ICL out of the box.
we drop a recording of a human doing a novel task into ๐ฐ๐ผ๐ฑ๐ฒ๐
app. Prompt it to drive a robot arm the same way.
It just works on the first pass!
Junyi Zhang retweeted
Open-source video generation is now faster than playback without compromising quality.
Introducing Video Delta Net (VDN): hybrid attention for live text-to-video with near-lossless quality.
VDN accelerates Minimax-H3 by 75 - 90 x, generating 14 seconds of 768p video in 11 seconds on 8ร NVIDIA B200 GPUs.
Checkpoints + training/inference code + Technical Blog โฌ๏ธ
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Junyi Zhang retweeted
The term "continual learning" has become overloaded if you see it as an ML problem.
One classic thread is about memorization: regularization-based continual learning methods, such as EWC, MAS, and SI, estimate which parameters mattered for previous tasks and resist changing them too much.
One modern thread is about adaptation: test-time training and inference-time learning methods, such as TTT, adapt part of the model on the incoming test stream before making predictions.
These are sometimes discussed as separate threads. But in modern scalable architectures, I think they are better seen as complementary constraints: a model that learns quickly at test time also benefits from a mechanism for deciding what not to forget.
In our #ECCV2026 paper, we study this in large-scale 4D reconstruction: how to build fast spatial memory that can adapt over long observation streams while reducing collapse and forgetting.
Instead of using fully plastic test-time updates, we stabilize fast-weight adaptation with an elastic prior that balances adaptation and memory.
Key ideas:
- Elastic Test-Time Training: Fisher-weighted consolidation for fast-weight updates
- EMA anchor weights that provide a moving reference for stability
- Chunk-by-chunk inference for long 3D/4D observation streams
We show that this scales across large 3D/4D pretraining settings, including both LRM-style and LVSM-style models, and improves reconstruction across benchmarks including Stereo4D, NVIDIA, and DL3DV-140.
We release model checkpoints across different design choices: resolution, post-training curriculum, and whether the model uses an explicit 4DGS intermediate representation.
- Homepage: fast-spatial-memory.github.iโฆ
- Paper: arxiv.org/abs/2604.07350
- Code: github.com/Mars-tin/fast-spaโฆ
- Models: huggingface.co/marstin/fast-โฆ
This work is co-led with @Xueyang_Y, contributed by @zhnhoy5 @YuncongYY, and advised by @SLED_AI @gan_chuang.
Junyi Zhang retweeted
Great work using offline agentic exploration to develop robot skills!
Children learn from play. Can robots do the same?
We propose ๐๐ฅ๐๐ฒ๐๐ฎ๐ฅ ๐๐ ๐๐ง๐ญ๐ข๐ ๐๐จ๐๐จ๐ญ ๐๐๐๐ซ๐ง๐ข๐ง๐ , a paradigm that gives embodied coding agents a play stage before downstream tasks arrive, and instantiate it with ๐๐๐๐ฌ (Robotics Agent Teams), where robots discover reusable skills through curious play.
Co-led with @jiaxin_ge_
Junyi Zhang retweeted
Learning from task-agnostic, explorative experience!
Children learn from play. Can robots do the same?
We propose ๐๐ฅ๐๐ฒ๐๐ฎ๐ฅ ๐๐ ๐๐ง๐ญ๐ข๐ ๐๐จ๐๐จ๐ญ ๐๐๐๐ซ๐ง๐ข๐ง๐ , a paradigm that gives embodied coding agents a play stage before downstream tasks arrive, and instantiate it with ๐๐๐๐ฌ (Robotics Agent Teams), where robots discover reusable skills through curious play.
Co-led with @jiaxin_ge_
Junyi Zhang retweeted
Excited to share T-Rex: Tactile-Reactive Dexterous Manipulation ๐ฆ๐ค
Touch is fundamental to human dexterity, yet most Vision-Language-Action (VLA) models either ignore tactile feedback or lack the ability to react to high-frequency contact signals.
In this work, we tackle both the data and architectural challenges of tactile-reactive dexterous manipulation.
๐ฆ A 100-hour tactile-synchronized dexterous manipulation dataset with 7,700+ trajectories, 22 motor primitives, and 200+ everyday objects.
๐ฆ A tactile-reactive MoT architecture with spatial-temporal tactile encoding and asynchronous high-frequency tactile refinement.
๐ฆ A scalable training recipe combining 22,889 hours of human egocentric pretraining with tactile-grounded robot mid-training.
Across 12 real-world contact-rich manipulation tasks, T-Rex achieves over 30% higher average success rate than the strongest baseline.
We are fully open-sourcing the dataset, models, teleoperation stack, training code, and inference pipeline.
๐ Project: tactile-rex.github.io/
๐ Paper: arxiv.org/abs/2606.17055
๐ป Code: github.com/ZhuoyangLiu2005/Tโฆ
๐ค Dataset: huggingface.co/datasets/zekaโฆ
๐งต Thread โ
Junyi Zhang retweeted
The most inspiring thing I took from this paper: there's far more to squeeze from simulation than sim-to-real training of task-specific policies. RATs shows a coding agent can self-propose tasks, self-construct scenes in sim, and acquire skills that transfer to real-world deployment.
It's promising to imagine handing coding agents a bunch of simulation clusters on top of ENPIRE to enable Sim-and-Real Co-research, where agents massively learn skills and try ideas in sim while continuously grounding them in the real world. Then robot skill acquisition can really scaling like everything else in the deep learning era.
Children learn from play. Can robots do the same?
We propose ๐๐ฅ๐๐ฒ๐๐ฎ๐ฅ ๐๐ ๐๐ง๐ญ๐ข๐ ๐๐จ๐๐จ๐ญ ๐๐๐๐ซ๐ง๐ข๐ง๐ , a paradigm that gives embodied coding agents a play stage before downstream tasks arrive, and instantiate it with ๐๐๐๐ฌ (Robotics Agent Teams), where robots discover reusable skills through curious play.
Co-led with @jiaxin_ge_
Junyi Zhang retweeted
3 of 3: Kids can learn how to generalize via play (vs rote repetition of goal tasks) to learn skills that are useful for the future; we think agentic robotics should do so as well. We revisit curiosity-based intrinsic learning for agentic robotics:
Children learn from play. Can robots do the same?
We propose ๐๐ฅ๐๐ฒ๐๐ฎ๐ฅ ๐๐ ๐๐ง๐ญ๐ข๐ ๐๐จ๐๐จ๐ญ ๐๐๐๐ซ๐ง๐ข๐ง๐ , a paradigm that gives embodied coding agents a play stage before downstream tasks arrive, and instantiate it with ๐๐๐๐ฌ (Robotics Agent Teams), where robots discover reusable skills through curious play.
Co-led with @jiaxin_ge_
Junyi Zhang retweeted
While ENPIRE w/ @nvidia @_wenlixiao @DrJimFan enables coding agents to explore algorithms and improve policies for a given real-world task, RATs asks: what can agents learn before a human specifies the task?
Through curiosity-driven play, agents propose tasks, hill-climb toward solutions, and accumulate reusable, transferable skills. When a human later requests a new task, the agents retrieve and compose these skills to solve it.
RATs explores an analogue of pre-training for embodied coding agents: broad skill acquisition through play, which accelerates task-specific problem solving with the skills acquired.
Looking forward to the agentic future of robotics!
See the detailed tweet from @junyi42!
Children learn from play. Can robots do the same?
We propose ๐๐ฅ๐๐ฒ๐๐ฎ๐ฅ ๐๐ ๐๐ง๐ญ๐ข๐ ๐๐จ๐๐จ๐ญ ๐๐๐๐ซ๐ง๐ข๐ง๐ , a paradigm that gives embodied coding agents a play stage before downstream tasks arrive, and instantiate it with ๐๐๐๐ฌ (Robotics Agent Teams), where robots discover reusable skills through curious play.
Co-led with @jiaxin_ge_
Junyi Zhang retweeted
Excited to release our new work: Playful Agentic Robot Learning w/ @junyi42!
Instead of relying on test-time scaling, we found that a "pretraining stage" through curious play enables robots to discover general skills before any tasks are assigned.
๐ playful-rats.github.io
Children learn from play. Can robots do the same?
We propose ๐๐ฅ๐๐ฒ๐๐ฎ๐ฅ ๐๐ ๐๐ง๐ญ๐ข๐ ๐๐จ๐๐จ๐ญ ๐๐๐๐ซ๐ง๐ข๐ง๐ , a paradigm that gives embodied coding agents a play stage before downstream tasks arrive, and instantiate it with ๐๐๐๐ฌ (Robotics Agent Teams), where robots discover reusable skills through curious play.
Co-led with @jiaxin_ge_
Junyi Zhang retweeted
What excites me most isnโt just that we built an agentic coding system for robots and ran it in the real world.
Itโs that the agentic system learned a generalizable prior during "Play-Time", and then reused it to adapt across multiple downstream tasks.
Children learn from play. Can robots do the same?
We propose ๐๐ฅ๐๐ฒ๐๐ฎ๐ฅ ๐๐ ๐๐ง๐ญ๐ข๐ ๐๐จ๐๐จ๐ญ ๐๐๐๐ซ๐ง๐ข๐ง๐ , a paradigm that gives embodied coding agents a play stage before downstream tasks arrive, and instantiate it with ๐๐๐๐ฌ (Robotics Agent Teams), where robots discover reusable skills through curious play.
Co-led with @jiaxin_ge_
Junyi Zhang retweeted

Roei Herzig@roeiherzigJun 19
๐บ๐ธ
United StatesConnected via United States Android AppAccount-level information, not a live location or per-post device.
Frontier coding agents have shown they can run on real robots when given defined tasks. ๐ค
Now we show these agents can learn the physical world like childrenโno task required: give them curiosity and self-play, and real robotic skills emerge on their own.โจ
๐๐๐๐๐ฌ are Robotics Agent Teams: embodied coding agents that learn through self-directed play before any downstream task is given.
playful-rats.github.io/
Children learn from play. Can robots do the same?
We propose ๐๐ฅ๐๐ฒ๐๐ฎ๐ฅ ๐๐ ๐๐ง๐ญ๐ข๐ ๐๐จ๐๐จ๐ญ ๐๐๐๐ซ๐ง๐ข๐ง๐ , a paradigm that gives embodied coding agents a play stage before downstream tasks arrive, and instantiate it with ๐๐๐๐ฌ (Robotics Agent Teams), where robots discover reusable skills through curious play.
Co-led with @jiaxin_ge_
Junyi Zhang retweeted
Why arenโt Diffusion Language Model smart yet? Lacking stable post training is a major bottleneck!
Meet DiPOD: the tripod for diffusion model post-training.
DiPOD boosts accuracy across reasoning tasks, with Sudoku jumping from 22% to 97%, through a one-line code change.
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Junyi Zhang retweeted
New paper: AsymFlow๐ฅ
JiT x0-prediction is not enough for pixel generation. Better keep velocity in a low-rank subspace:
- 1.57 FID on ImageNet (best pixel flow model)
- Finetunes FLUX.2 klein into pixel space, beats the original on HPSv3/DPG/GenEval (#1 overall on HPSv3)
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