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About

Hi, I am a Senior Research Scientist at Nvidia GEAR Lab, leading the world model team for Project GR00T. Our main research agenda is to find a scaling axis for improving robot learning by scaling the total amount of GPUs with world models. Do reach out if you are interested in joining our team!

News

May 2025 We release DreamGen, the first method that enables visuomotor robot policies to perform new verbs in new environments. [blog][VentureBeat][Youtube (short)][Youtube (talk)]

May 2025 Glad to share that The BiGGen Bench has won the best paper award in NAACL 2025!

March 2025 We release GR00T N1, the first foundation model for humanoid robots. I led the Video Generation Models and Latent Actions team.

Jan 2025 LAPA, HAMSTER, and Knowledge Entropy have been accepted to ICLR 2025!

Oct 2024 Invited to give a talk at OpenAI for our new preprint, Latent Action Pretraining from Videos.

June 2024 I am part of the organizing committee for the 5th Embodied AI Workshop at CVPR 2024.

January 2024 Our Prometheus paper has been accepted to ICLR 2024!

Octobober 2023 Our CoT Collection paper has been accepted to EMNLP 2023 and RoSPr to EMNLP 2023 Findings!

May 2023 Our Knowledge Unlearning paper and Gradient Ascent Post-training paper has been accepted to ACL 2023 and Prompt Injection to ACL 2023 Findings!

April 2023 Our ELM paper has been accepted to ICML 2023!

January 2023 Our Guess the Instruction paper has been accepted to ICLR 2023!

November 2022 Our CKL paper won the Qualcomm Innovation Fellowship Korea (QIFK) 2022!

October 2022 Our TemporalWiki paper has been accepted to EMNLP 2022!

Jan 2022 Our CKL paper got accepted to ICLR 2022!

Education

University of WashingtonSep. 2023 - May 2025 (on leave)

Ph.D. Student (advisors: Luke Zettlemoyer and Dieter Fox)

Korea Advanced Institute of Science and Technology (KAIST) Mar. 2021 - Aug. 2023

M.S. in Artificial Intelligence (advisor: Minjoon Seo)

Korea UniversityMar. 2017 - Feb. 2021

B.S. in Computer Science

Publications

2025

GR00T N1: An Open Foundation Model for Generalist Humanoid Robots

NVIDIA GEAR Team

Technical Whitepaper

Paper Code

Magma: A Foundation Model for Multimodal AI Agents

Jianwei Yang, Reuben Tan, Qianhui Wu, Ruijie Zheng, Baolin Peng, Yongyuan Liang, Yu Gu, Mu Cai, Seonghyeon Ye, Joel Jang, Yuquan Deng, Lars Liden, Jianfeng Gao

CVPR 2025

Paper Code

Latent Action Pretraining from Videos

Seonghyeon Ye*, Joel Jang*, Byeongguk Jeon, Sejune Joo, Jianwei Yang, Baolin Peng, Ajay Mandlekar, Reuben Tan, Yu-Wei Chao, Bill Yuchen Lin, Lars Liden, Kimin Lee, Jianfeng Gao, Luke Zettlemoyer, Dieter Fox, Minjoon Seo

ICLR 2025

Paper Code

Knowledge Entropy Decay during Language Model Pretraining Hinders New Knowledge Acquisition

Jiyeon Kim*, Hyunji Lee*, Hyowon Cho, Joel Jang, Hyeonbin Hwang, Seungpil Won, Youbin Ahn, Dohaeng Lee, Minjoon Seo

ICLR 2025

Paper Code

HAMSTER: Hierarchical Action Models for Open-World Robot Manipulation

Yi Li*, Yuquan Deng*, Jesse Zhang*, Joel Jang, Marius Memmel, Caelan Reed Garrett, Fabio Ramos, Dieter Fox, Anqi Li, Abhishek Gupta, Ankit Goyal

ICLR 2025

Paper

The BiGGen Bench: A Principled Benchmark for Fine-grained Evaluation of Language Models with Language Models

Seungone Kim, Juyoung Suk, Ji Yong Cho, Shayne Longpre, Chaeeun Kim, Dongkeun Yoon, Guijin Son, Yejin Cho, Sheikh Shafayat, Jinheon Baek, Sue Hyun Park, Hyeonbin Hwang, Jinkyung Jo, Hyowon Cho, Haebin Shin, Seongyun Lee, Hanseok Oh, Noah Lee, Namgyu Ho, Se June Joo, Miyoung Ko, Yoonjoo Lee, Hyungjoo Chae, Jamin Shin, Joel Jang, Seonghyeon Ye, Bill Yuchen Lin, Sean Welleck, Graham Neubig, Moontae Lee, Kyungjae Lee, Minjoon Seo

NAACL 2025

Paper

2024

Semiparametric Token-Sequence Co-Supervision

Hyunji Lee*, Doyoung Kim*, Jihoon Jun, Sejune Joo, Joel Jang, Kyoung-Woon Oh, Minjoon Seo

ACL 2024

Paper Code

LangBridge: Multilingual Reasoning Without Multilingual Supervision

Dongkeun Yoon, Joel Jang, Sungdong Kim, Seungone Kim, Sheikh Shafayat, Minjoon Seo

ACL 2024

Paper Code

Exploring the Practicality of Generative Retrieval on Dynamic Corpora

Chaeeun Kim*, Soyoung Yoon*, Hyunji Lee, Joel Jang, Sohee Yang, Minjoon Seo

EMNLP 2024

Paper

How Well Do Large Language Models Truly Ground?

Hyunji Lee*, Sejune Joo*, Chaeeun Kim, Joel Jang, Doyoung Kim, Kyoung-Woon Oh, Minjoon Seo

NAACL 2024

Paper Code

Personalized Soups: Personalized Large Language Model Alignment via Post-hoc Parameter Merging

Joel Jang, Seungone Kim, Bill Yuchen Lin, Yizhong Wang, Jack Hessel, Luke Zettlemoyer, Hannaneh Hajishirzi, Yejin Choi, Prithviraj Ammanabrolu

NeurIPS 2024 AFM Workshop

Paper Code Twitter

Prometheus: Inducing Fine-grained Evaluation Capability in Language Models

Seungone Kim*, Jamin Shin*, Yejin Cho*, Joel Jang, Shayne Longpre, Hwaran Lee, Sangdoo Yun, Seongjin Shin, Sungdong Kim, James Thorne, Minjoon Seo

ICLR 2024

Paper Code Twitter

Improving Probability-based Prompt Selection Through Unified Evaluation and Analysis

Sohee Yang, Jonghyeon Kim, Joel Jang, Seonghyeon Ye, Hyunji Lee, Minjoon Seo

TACL 2024

Paper Code Twitter

2023

The CoT Collection: Improving Zero-shot and Few-shot Learning of Language Models via Chain-of-Thought Fine-Tuning

Seungone Kim*, Se June Joo*, Doyoung Kim, Joel Jang, Seonghyeon Ye, Jamin Shin, Minjoon Seo

EMNLP 2023

Paper Code Twitter

Retrieval of Soft Prompt Enhances Zero-shot Task Generalization

Seonghyeon Ye, Joel Jang, Doyoung Kim, Yongrae Jo, Minjoon Seo

EMNLP 2023 Findings

Paper Code Twitter

Knowledge Unlearning for Mitigating Privacy Risks in Language Models

Joel Jang, Dongkeun Yoon, Sohee Yang, Sungmin Cha, Moontae Lee, Lajanugen Logeswaran, Minjoon Seo

ACL 2023

Paper Code Slides Twitter

Gradient Ascent Post-training Enhances Language Model Generalization

Dongkeun Yoon*, Joel Jang*, Sungdong Kim, Minjoon Seo

ACL 2023 (short)

Paper Code

Prompt Injection: Parameterization of Fixed Inputs

Eunbi Choi, Yongrae Jo, Joel Jang, Minjoon Seo

ACL 2023 Findings

Paper Code Twitter

Exploring the Benefits of Training Expert Language Models over Instruction Tuning

Joel Jang, Seungone Kim, Seonghyeon Ye, Doyoung Kim, Lajanugen Logeswaran, Moontae Lee, Kyungjae Lee, Minjoon Seo

ICML 2023

Paper Code Slides Twitter

Guess the Instruction! Making Language Models Stronger Zero-Shot Learners

Seonghyeon Ye, Doyoung Kim, Joel Jang, Joongbo Shin, Minjoon Seo

ICLR 2023

Paper Code Twitter

2022

Can Large Language Models Truly Understand Prompts? A Case Study with Negated Prompts

Joel Jang*, Seonghyeon Ye*, Minjoon Seo

NeurIPS 2022 Workshop on Transfer Learning for NLP (TL4NLP)

Paper Code Slides

TemporalWiki: A Lifelong Benchmark for Training and Evaluating Ever-Evolving Language Models

Joel Jang*, Seonghyeon Ye*, Changho Lee, Sohee Yang, Joongbo Shin, Janghoon Han, Gyeonghun Kim, Minjoon Seo

EMNLP 2022

Paper Code Slides Twitter

Towards Continual Knowledge Learning of Language Models

Joel Jang, Seonghyeon Ye, Sohee Yang, Joongbo Shin, Janghoon Han, Gyeonghun Kim, Stanley Jungkyu Choi, Minjoon Seo

ICLR 2022

Paper Code Slides Twitter

2021

Sequential targeting: A continual learning approach for data imbalance in text classification

Joel Jang, Yoonjeon Kim, Kyoungho Choi, Sungho Suh

Expert Systems with Applications (2021)

Paper Code

***( * indicates equal contribution )***

Vitæ

Full CV in PDF.

Nvidia GEAR Lab March 2025 - Present

Research Scientist
Leading the world modeling team
Nvidia GEAR Lab Oct 2024 - Feb 2025

Research Intern (Mentors: Scott Reed and Jim Fan)
Scalable methods for creating Foundation Models for Robotics
Nvidia Robotics Lab March 2024 - Sep 2024

Research Intern (Mentors: Ajay Mandlekar and Dieter Fox)
Scalable methods for creating Foundation Models for Robotics
Allen Institute for AI (AI2) June 2023 - Jan 2024

Research Intern (Mentors: Prithviraj Ammanabrolu, Yuchen Lin, Yejin Choi)
Personalized RLHF
University of Washington Sep. 2023 - Present

Ph.D. Student (Advisor: Luke Zettlemoyer and Dieter Fox)
Foundation Models for Generalist AI Robots
LG AI Research July 2022 - May 2023

Research Intern (Mentors: Moontae Lee, Lajanugen Logeswaran)
Working on developing LMs that can generalize to novel tasks
KAIST Language & Knowledge Lab Mar. 2021 - Aug. 2023

M.S. Student (Advisor: Minjoon Seo)
Continual Adaptation of LLMs
Kakao Brain Dec. 2020 - Feb. 2021

Research Intern (Mentor: Ildoo Kim)
Worked on large-scale representation learning
NAVER Jul. 2020 - Sept. 2020

Software Engineer Intern
Worked on continual learning on hate speech detection
KIST Europe Aug. 2019 - Jan. 2020

Research Intern (Mentor: Sungho Suh)
Worked on machine prognostics through ML
Korea University Mar. 2017 - Feb. 2021

B.S. in Computer Science

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