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Kuo-Hao Zeng 曾國豪

AI Researcher @ Vercept

kuohaozeng at gmail.com

I am a founding research scientist at Vercept.

I was a research scientist at the Allen Institute for AI (Ai2), working on large-scale policy training for embodied agents. I received my Ph.D. in the Computer Science & Engineering from the University of Washington, advised by Ali Farhadi and Roozbeh Mottaghi in RAIVN Lab.

My CV [PDF], last updated July 2025.

Selected Publications

* equal contribution; † equal advising

Molmo and PixMo: Open Weights and Open Data for State-of-the-Art Multimodal Models

Matt Deitke*, Christopher Clark*, Sangho Lee, Rohun Tripathi, Yue Yang, Jae Sung Park, Mohammadreza Salehi, Niklas Muennighoff, Kyle Lo, Luca Soldaini, Jiasen Lu, Taira Anderson, Erin Bransom, Kiana Ehsani, Huong Ngo, YenSung Chen, Ajay Patel, Mark Yatskar, Chris Callison-Burch, Andrew Head, Rose Hendrix, Favyen Bastani, Eli VanderBilt, Nathan Lambert, Yvonne Chou, Arnavi Chheda, Jenna Sparks, Sam Skjonsberg, Michael Schmitz, Aaron Sarnat, Byron Bischoff, Pete Walsh, Chris Newell, Piper Wolters, Tanmay Gupta, Kuo-Hao Zeng, Jon Borchardt, Dirk Groeneveld, Jen Dumas, Crystal Nam, Sophie Lebrecht, Caitlin Wittlif, Carissa Schoenick, Oscar Michel, Ranjay Krishna, Luca Weihs, Noah A Smith, Hannaneh Hajishirzi, Ross Girshick, Ali Farhadi, Aniruddha Kembhavi

CVPR 2025 Oral Presentation (Best Paper Honorable Mention)

• arXiv
• demo

FLaRe: Achieving Masterful and Adaptive Robot Policies with Large-Scale Reinforcement Learning Fine-Tuning

Jiaheng Hu, Rose Hendrix, Ali Farhadi, Aniruddha Kembhavi, Roberto Martín-Martín, Peter Stone, Kuo-Hao Zeng†, Kiana Ehsani†

ICRA 2025

• arXiv
• project page
• code

PoliFormer: Scaling On-Policy RL with Transformers Results in Masterful Navigators

Kuo-Hao Zeng, Zichen Zhang, Kiana Ehsani, Rose Hendrix, Jordi Salvador, Alvaro Herrasti, Ross Girshick, Aniruddha Kembhavi, Luca Weihs

CoRL 2024 Oral Presentation (Outstanding Paper Award)

• arXiv
• project page
• code

Imitating Shortest Paths in Simulation Enables Effective Navigation and Manipulation in the Real World

Kiana Ehsani*, Tanmay Gupta*, Rose Hendrix*, Jordi Salvador*, Luca Weihs*, Kuo-Hao Zeng*, Kunal Pratap Singh, Yejin Kim, Winson Han, Alvaro Herrasti, Ranjay Krishna, Dustin Schwenk, Eli VanderBilt, Aniruddha Kembhavi

CVPR 2024

• arXiv
• project page
• code

Seeing the Unseen: Visual Common Sense for Semantic Placement

Ram Ramrakhya, Aniruddha Kembhavi, Dhruv Batra, Zsolt Kira, Kuo-Hao Zeng†, Luca Weihs†

CVPR 2024

• arXiv
• project page
• code

Open X-Embodiment: Robotic Learning Datasets and RT-X Models

Kuo-Hao Zeng et al.

ICRA 2024 (Best Paper Award)

• arXiv
• project page
• code

Selective Visual Representations Improve Convergence and Generalization for Embodied AI

Ainaz Eftekhar*, Kuo-Hao Zeng*, Jiafei Duan, Ali Farhadi, Ani Kembhavi, Ranjay Krishna

ICLR 2024 Spotlight

• arXiv
• project page
• code

Moving Forward by Moving Backward: Embedding Action Impact over Action Semantics

Kuo-Hao Zeng, Luca Weihs, Roozbeh Mottaghi, Ali Farhadi

ICLR 2023 Oral Presentation

• arXiv
• project page
• code
• video

Pushing it out of the Way: Interactive Visual Navigation

Kuo-Hao Zeng, Luca Weihs, Ali Farhadi, Roozbeh Mottaghi

CVPR 2021

• arXiv
• project page
• code
• video

AllenAct: A Framework for Embodied AI Research

Luca Weihs, Jordi Salvador, Klemen Kotar, Unnat Jain, Kuo-Hao Zeng, Roozbeh Mottaghi, Aniruddha Kembhavi

arXiv 2020

• arXiv
• project page
• code

Visual Reaction: Learning to Play Catch with Your Drone

Kuo-Hao Zeng, Roozbeh Mottaghi, Luca Weihs, Ali Farhadi

CVPR 2020

• arXiv
• project page
• code
• Video
• VentureBeat Press

Style Example-Guided Text Generation using Generative Adversarial Transformers

Kuo-Hao Zeng, Mohammad Shoeybi, Ming-Yu Liu

arXiv 2020

• arXiv

Visual Forecasting by Imitating Dynamics in Natural Sequences

Kuo-Hao Zeng, William B. Shen, De-An Huang, Min Sun, Juan Carlos Niebles

ICCV 2017 Spotlight

• arXiv
• video
• talk

Agent-Centric Risk Assessment: Accident Anticipation and Risky Region Localization

Kuo-Hao Zeng, Shih-Han Chou, Fu-Hsiang Chan, Juan Carlos Niebles, Min Sun

CVPR 2017 Spotlight

• arXiv
• project page
• dataset
• video

Leveraging Video Descriptions to Learn Video Question Answering

Kuo-Hao Zeng, Tseng-Hung Chen, Ching-Yao Chuang, Yuan-Hong Liao, Juan Carlos Niebles, Min Sun

AAAI 2017

• arXiv
• project page
• dataset

Title Generation for User Generated Videos

Kuo-Hao Zeng, Tseng-Hung Chen, Juan Carlos Niebles, Min Sun

ECCV 2016

• arXiv
• project page
• dataset
• video
• MSRA blog