Yilun Du
Email: yilundu [at] mit [dot] edu
Twitter: https://twitter.com/du_yilun
Github: https://github.com/yilundu
I am a fourth-year PhD student at MIT EECS, advised by Prof. Leslie Kaelbling, Prof. Tomas Lozano-Perez and Prof. Joshua B. Tenenbaum. Previously, I obtained my bachelor's degree from MIT, was a research fellow at OpenAI, an intern at Deepmind and FAIR, and got a gold medal at the International Biology Olympiad.
My research interests lie in developing machine learning tools to create autonomous embodied agents. Two major challenges presented in the embodied setting are: high uncertainty and the rich combinatorial nature of the world. To tackle these issues, I utilize energy-based models to accurately represent uncertainty and to construct composable models that can quickly adapt and generalize to new experience. Moreover, I use the energy optimization procedure as an adjustable computational budget, allowing longer computation times to adapt to novel out-of-distribution experiences. Embodied learning is multimodal, and I use neural fields as a tool to capture structure across modalities such as vision, text, sound, and touch. Finally I'm interested in broader applications of these tools to other domains such as computational biology.
News
- I gave a recent talk at Nuro summarizing some of my recent works recorded here.
- We are organizing a workshop on large pretrained models for decision making at NeurIPS 2022.
- Check out a list of our work on energy-based models!
- If you are looking for research experience, feel free to reach out -- we have several projects actively looking for additional collaborators.
Research Highlights
- Generative Modeling: constructing generative models of the world's structure which may be combined and adapted.
- Perception and Scene Understanding: inferring structured representations of the world for downstream embodied tasks.
- Interactive Learning: building intelligent agents which may interact in the surrounding world.
Publications ( show selected / show all by date / show all by topic )
Topics: Generative Modeling / Perception and Scene Understanding / Interactive Learning (* indicates equal contribution)
NeuSE: Neural SE(3)-Equivariant Embedding for Consistent Spatial Understanding with Objects
Jiahui Fu, Yilun Du, Kurran Singh, Joshua B. Tenenbaum, John J. Leonard
Diffusion Policy: Visuomotor Policy Learning via Action Diffusion
Cheng Chi, Siyuan Feng, Yilun Du, Zhenjia Xu, Eric Cousineau,, Benjamin Burchfiel, Shuran Song
Foundation Models for Decision Making: Problems, Methods, and Opportunities
Mengjiao Yang, Ofir Nachum, Yilun Du, Jason Wei, Pieter Abbeel, Dale Schuurmans
ArXiv Preprint / Paper
Reduce, Reuse, Recycle: Compositional Generation with Energy-Based Diffusion Models and MCMC
Yilun Du, Conor Durkan, Robin Strudel, Joshua B. Tenenbaum, Sander Dieleman, Rob Fergus, Jascha Sohl-Dickstein, Arnaud Doucet, Will Grathwohl
Learning Universal Policies via Text-Guided Video Generation
Yilun Du*, Mengjiao Yang*, Bo Dai, Hanjun Dai, Ofir Nachum, Joshua B. Tenenbaum, Dale Schuurmans, Pieter Abbeel
Is Conditional Generative Modeling all You Need for Decision-Making?
Anurag Ajay*, Yilun Du*, Ahbi Gupta*, Joshua B. Tenenbaum, Tommi S. Jaakkola, Pulkit Agrawal
Composing Ensembles of Pre-trained Models via Iterative Consensus
Shuang Li*, Yilun Du*, Joshua B. Tenenbaum, Antonio Torralba, Igor Mordatch,
Seeing 3D Objects in a Single Image via Self-Supervised Static-Dynamic Disentanglement
Prafull Sharma, Ayush Tewari, Yilun Du, Sergey Zakharov, Rares Ambrus, Adrien Gaidon, William T. Freeman, Fredo Durand, Joshua B. Tenenbaum, Vincent Sitzmann
Local Neural Descriptor Fields: Locally Conditioned Object Representations for Manipulation
Ethan Chun, Yilun Du, Anthony Simeonov, Tomas Lozano-Perez, Leslie Kaelbling
Visiblity-Aware Navigation Among Movable Objects
Jose Iturralde*, Aiden Curtis*, Yilun Du, Leslie Kaelbling, Tomas Lozano-Perez
ICRA 2023 / Paper
Language models generalize beyond natural proteins
Robert Verkuil*, Ori Kabeli*, Yilun Du, Basile Wicky, Lukas Milles, Justas Dauparas, David Baker, Sergey Ovchinnikov, Tom Sercu, Alexander Rives
bioRxiv Preprint / Paper
Self-conditioned Embedding Diffusion for Text Generation
Robin Strudel, Corentin Tallec, Florent Altche, Yilun Du, Yaroslav Ganin, Arthur Mensch, Will Grathwohl, Nikolay Savinov, Sander Dieleman, Laurent Sifre, Remi Lebond
ArXiv Preprint / Paper
SE(3)-Equivariant Relational Rearrangement with Neural Descriptor Fields
Anthony Simeonov*, Yilun Du*, Yen-Chen Lin, Alberto Rodriguez, Leslie Kaelbling, Tomas Lozano-Perez, Antonio Torralba, Pulkit Agrawal
MIRA: Mental Imagery for Robotic Affordances
Yen-Chen Lin, Pete Florence, Andy Zheng, Johnathon T. Barron, Yilun Du, Wei-Chiu Ma, Anthony Simeonov, Alberto Rodriguez, Phillip Isola
Learning Neural Acoustic Fields
Andrew Luo, Yilun Du, Michael J. Tarr, Joshua B. Tenenbaum, Antonio Torralba, Chuang Gan
3D Concept Grounding on Neural Fields
Yining Hong, Yilun Du, Chunru Lin, Joshua B. Tenenbaum, Chuang Gan
Pre-Trained Language Models for Interactive Decision-Making
Shuang Li, Xavier Puig, Chris Paxton, Yilun Du, Clinton Wang, Linxi Fan, Tao Chen, De-An Huang, Ekin Akyurek, Anima Anandkumar+, Jacob Andreas+, Igor Mordatch+, Antonio Torralba+, Yuke Zhu+
NeurIPS 2022 (Oral) / Website / Paper / Code
(Last five authors contributed equally; order determined by alphabetically.)Compositional Visual Generation with Composable Diffusion Models
Nan Liu*, Shuang Li*, Yilun Du*, Antonio Torralba, Joshua B. Tenenbaum
Learning Object Based State Estimators for Household Autonomy
Yilun Du, Tomas Lozano-Perez, Leslie Kaelbling
Robust Change Detection Based on Neural Descriptor Fields
Jiahui Fu, Yilun Du, Kurran Singh, Joshua B. Tenenbaum, John J. Leonard
Planning with Diffusion for Flexible Behavior Synthesis
Michael Janner*, Yilun Du*, Joshua B. Tenenbaum, Sergey Levine
Learning Iterative Reasoning through Energy Minimization
Yilun Du, Shuang Li, Joshua B. Tenenbaum, Igor Mordatch
Streaming Inference for Infinite Feature Models
Rylan Schaeffer, Yilun Du, Gabrielle Liu, Ila Fiete
Energy-Based Models for Continual Learning
Shuang Li, Yilun Du, Gido M. van de Ven, Antonio Torralba, Igor Mordatch
CoLLA 2022 (Oral) / Paper / Project Page / Code
Streaming Inference for Infinite Non-Stationary Clustering
Rylan Schaeffer, Gabrielle Liu, Yilun Du, Scott Linderman, Ila Fiete
Kubric: A Scalable Dataset Generator
Klaus Greff, Francois Belleetti, Lucas Beyer, Carl Doersch, Yilun Du, Daniel Duckworth, David J. Fleet, Dan Gnanapragasam, Florian Golemo, Charles Herrmann, Thomas Kipf, Abhijit Kundu, Dmitry Lagun, issam Laradji, Derek Liu, Hinning Meyer, Yishu Miao, Derek Nowrouzezahrai, Cengiz Oztireli, Etienne Pot, Noha Radwan, Daniel Rebain, Sara Sabour, Mehdi Sajjadi, Matan Sela, Vincent Sitzmann, Austin Stone, Deqing Sun, Suhani Vora, Ziyu Wang, Tianhao Wu, Kwang Moo Yi, Fangcheng Zhong, Andrea Tagliasacchi
Neural Descriptor Fields: SE(3)-Equivariant Object Representations for Manipulation
Anthony Simeonov*, Yilun Du*, Andrea Tagliasacchi, Joshua B. Tenenbaum, Alberto Rodriguez, Pulkit Agrawal+, Vincent Sitzmann+
ICRA 2022 / Website / Paper / Code / Colab
(First two authors contributed equally; order determined by coin toss. Last two authors equal advising.)
Unsupervised Learning of Compositional Energy Concepts
Yilun Du, Shuang Li, Yash Sharma, Joshua B. Tenenbaum, Igor Mordatch
NeurIPS 2021 / Website / Paper / Code
Learning to Compose Visual Relations
Nan Liu*, Shuang Li*, Yilun Du*, Joshua B. Tenenbaum, Antonio Torralba
NeurIPS 2021 (Spotlight) / NeurIPS 2021 Workshop on Controllable Generative Modeling (Outstanding Paper Award) / Website / Paper / Code / MIT News
Learning Signal-Agnostic Manifolds of Neural Fields
Yilun Du, Katie Collins, Joshua B. Tenenbaum, Vincent Sitzmann
NeurIPS 2021 / Website / Paper / Code
The Neural MMO Platform for Massively Multiagent Research
Joseph Suarez, Yilun Du, Clare Zhu, Igor Mordatch, Phillip Isola
NeurIPS 2021 Track on Datasets and Benchmarks / Website / Paper
3D Shape Generation and Completion through Point-Voxel Diffusion
Linqi Zhou, Yilun Du, Jiajun Wu
ICCV 2021 (Oral) / Project Page / Paper / Code
Curious Representation Learning for Embodied Intelligence
Yilun Du, Chuang Gan, Phillip Isola
ICCV 2021 / Project Page / Paper / Code
Neural Radiance Flow for 4D View Synthesis and Video Processing
Yilun Du, Yinan Zhang, Hong-Xing Yu, Joshua B. Tenenbaum, Jiajun Wu
ICCV 2021 / Paper / Project Page / Code
Weakly Supervised Human-Object Interaction Detection in Video via Contrastive Spatiotemporal Regions
Shuang Li, Yilun Du, Antonio Torralba, Josef Sivic, Bryan Russell
ICCV 2021 / Paper / Project Page / Code / Dataset
Improved Contrastive Divergence Training of Energy Based Models
Yilun Du, Shuang Li, Joshua B. Tenenbaum, Igor Mordatch
ICML 2021 / ICLR 2021 EBM Workshop (Oral) / Paper / Project Page / Code
Unsupervised Discovery of 3D Physical Objects from Video
Yilun Du, Kevin Smith, Tomer Ulman, Joshua B. Tenenbaum, Jiajun Wu
ICLR 2021 / Paper / Code / Project Page
Compositional Visual Generation with Energy Based Models
Yilun Du, Shuang Li, Igor Mordatch
NeurIPS 2020 (Spotlight) / Paper / Project Page / Code
A Long Horizon Planning Framework for Manipulating Rigid Pointcloud Objects
Anthony Simeonov, Yilun Du, Beomjoon Kim, Francois Hogan, Joshua B. Tenenbaum, Pulkit Agrawal, Alberto Rodriguez
Energy-based models for atomic-resolution protein conformations
Yilun Du, Joshua Meier, Jerry Ma, Rob Fergus, Alexander Rives
ICLR 2020 (Spotlight) / MLCB 2020 (Oral / Travel Award) / Paper / Code
Observational Overfitting in Reinforcement Learning
Xingyou Song, Yiding Jiang, Yilun Du, Behnam Neyshabur
Model Based Planning with Energy Based Models
Yilun Du, Toru Lin, Igor Mordatch
CORL 2019 / ICML MBRL Workshop 2019 (Oral) / Paper / Code
Implicit Generation and Generalization with Energy Based Models
Yilun Du, Igor Mordatch
NeurIPS 2019 (Spotlight) / Paper / Code / OpenAI Blog
Task-Agnostic Dynamics Priors for Deep Reinforcement Learning
Yilun Du, Karthik Narasimhan
Neural MMO: A massively multiplayer game environment for intelligent agents
Joseph Suarez, Yilun Du, Phillip Isola, Igor Mordatch
