Youngwoon Lee

EDBT 2026 Demo / reviewers in the wild / expert

dblp:117/4767 · DBLP profile ↗

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14ranked-venue papers

6as first author

8since 2021 · last 2025

0000-0001-9011-0921ORCID · corroborated

Domains — the database's venue-derived domains; a paper can count in several

Artificial intelligence and machine learning · 14 · 6 first-author · 8 since 2021Systems, architecture and hardware · 3 · 1 first-author · 3 since 2021Graphics, computer vision, multimedia, augmented reality and games · 2 · 1 first-author

Year	Publication	Venue	Position
2025	Model-based Offline Reinforcement Learning with Lower Expectile Q-Learning abstract Model-based offline reinforcement learning (RL) is a compelling approach that addresses the challenge of learning from limited, static data by generating imaginary trajectories using learned models. However, these approaches often struggle with inaccurate value estimation from model rollouts. In this paper, we introduce a novel model-based offline RL method, Lower Expectile Q-learning (LEQ), which provides a low-bias model-based value estimation via lower expectile regression of $\lambda$-returns. Our empirical results show that LEQ significantly outperforms previous model-based offline RL methods on long-horizon tasks, such as the D4RL AntMaze tasks, matching or surpassing the performance of model-free approaches and sequence modeling approaches. Furthermore, LEQ matches the performance of state-of-the-art model-based and model-free methods in dense-reward environments across both state-based tasks (NeoRL and D4RL) and pixel-based tasks (V-D4RL), showing that LEQ works robustly across diverse domains. Our ablation studies demonstrate that lower expectile regression, $\lambda$-returns, and critic training on offline data are all crucial for LEQ. Kwanyoung Park, Youngwoon Lee	ICLR	2
2024	DreamSmooth: Improving Model-based Reinforcement Learning via Reward Smoothing abstract Model-based reinforcement learning (MBRL) has gained much attention for its ability to learn complex behaviors in a sample-efficient way: planning actions by generating imaginary trajectories with predicted rewards. Despite its success, we found that surprisingly, reward prediction is often a bottleneck of MBRL, especially for sparse rewards that are challenging (or even ambiguous) to predict. Motivated by the intuition that humans can learn from rough reward estimates, we propose a simple yet effective reward smoothing approach, DreamSmooth, which learns to predict a temporally-smoothed reward, instead of the exact reward at the given timestep. We empirically show that DreamSmooth achieves state-of-the-art performance on long-horizon sparse-reward tasks both in sample efficiency and final performance without losing performance on common benchmarks, such as Deepmind Control Suite and Atari benchmarks. Vint Lee, Pieter Abbeel, Youngwoon Lee	ICLR	3
2024	Open X-Embodiment: Robotic Learning Datasets and RT-X Models : Open X-Embodiment Collaboration abstract Large, high-capacity models trained on diverse datasets have shown remarkable successes on efficiently tackling downstream applications. In domains from NLP to Computer Vision, this has led to a consolidation of pretrained models, with general pretrained backbones serving as a starting point for many applications. Can such a consolidation happen in robotics? Conventionally, robotic learning methods train a separate model for every application, every robot, and even every environment. Can we instead train "generalist" X-robot policy that can be adapted efficiently to new robots, tasks, and environments? In this paper, we provide datasets in standardized data formats and models to make it possible to explore this possibility in the context of robotic manipulation, alongside experimental results that provide an example of effective X-robot policies. We assemble a dataset from 22 different robots collected through a collaboration between 21 institutions, demonstrating 527 skills (160266 tasks). We show that a high-capacity model trained on this data, which we call RT-X, exhibits positive transfer and improves the capabilities of multiple robots by leveraging experience from other platforms. The project website is robotics-transformer-x.github.io. Abigail O'Neill, Abhiram Maddukuri, Abhishek Gupta 0004, Abhishek Padalkar, Abraham Lee, Acorn Pooley, Agrim Gupta, Ajay Mandlekar, Ajinkya Jain, Albert Tung, Alex Bewley, Alex Irpan, Alexander Khazatsky, Anant Rai, Anchit Gupta, Andrew E. Wang, Anikait Singh, Animesh Garg, Aniruddha Kembhavi, Annie Xie, Anthony Brohan, Antonin Raffin, Archit Sharma, Arefeh Yavary, Arhan Jain, Ashwin Balakrishna, Ayzaan Wahid, Ben Burgess-Limerick, Bernhard Schölkopf, Blake Wulfe, Brian Ichter, Cewu Lu, Charles Xu 0003, Charlotte Le, Chelsea Finn, Chen Wang 0053, Chenfeng Xu, Cheng Chi 0001, Chenguang Huang, Christine Chan, Christopher Agia, Chuer Pan, Chuyuan Fu, Coline Devin, Danfei Xu, Daniel Morton, Danny Drieß, Daphne Chen, Deepak Pathak, Dhruv Shah, Dieter Büchler, Dinesh Jayaraman, Dmitry Kalashnikov, Dorsa Sadigh, Edward Johns, Ethan Paul Foster, Fangchen Liu, Federico Ceola, Fei Xia 0002, Feiyu Zhao, Freek Stulp, Gaoyue Zhou, Gaurav S. Sukhatme, Gautam Salhotra, Gilbert Feng, Giulio Schiavi, Glen Berseth, Gregory Kahn, Guanzhi Wang, Hao Su 0001, Haoshu Fang, Henghui Bao, Heni Ben Amor, Henrik I. Christensen, Hiroki Furuta, Homer Walke, Hongjie Fang, Huy Ha, Igor Mordatch, Ilija Radosavovic, Isabel Leal, Jacky Liang, Jad Abou-Chakra, Jaehyung Kim 0001, Jaimyn Drake, Jan Peters 0001, Jan Schneider 0007, Jasmine Hsu, Jeannette Bohg, Jeffrey T. Bingham, Jensen Gao, Jiaheng Hu, Jiajun Wu 0001, Jiankai Sun, Jianlan Luo, Jiayuan Gu, Jie Tan 0001, Jihoon Oh, Jimmy Wu, Jingpei Lu, Jitendra Malik, João Silvério, Joey Hejna, Jonathan Booher, Jonathan Tompson, Jonathan Yang, Jordi Salvador, Joseph J. Lim, Junhyek Han, Kanishka Rao, Karl Pertsch, Karol Hausman, Keegan Go, Keerthana Gopalakrishnan, Kenneth Y. Goldberg, Kendra Byrne, Kenneth Oslund, Kento Kawaharazuka, Kevin Black, Kevin Zhang 0002, Kiana Ehsani, Kiran Lekkala, Kirsty Ellis, Krishan Rana, Krishnan Srinivasan, Kuan Fang, Kunal Pratap Singh, Kuo-Hao Zeng, Kyle Hatch, Kyle Hsu, Laurent Itti, Yunliang Chen 0001, Lerrel Pinto, Li Fei-Fei 0001, Liam Tan, Linxi Fan, Lionel Ott, Lisa Lee, Luca Weihs, Magnum Chen, Marion Lepert, Marius Memmel, Masayoshi Tomizuka, Masha Itkina, Mateo Guaman Castro, Max Spero, Maximilian Du, Michael Ahn, Michael C. Yip, Mingtong Zhang 0003, Mingyu Ding, Minho Heo, Mohan Kumar Srirama, Mohit Sharma 0001, Moo Jin Kim, Naoaki Kanazawa, Nicklas Hansen 0001, Nicolas Heess, Nikhil J. Joshi, Niko Sünderhauf, Norman Di Palo, Nur Muhammad Shafiullah, Oier Mees, Oliver Kroemer, Osbert Bastani, Pannag R. Sanketi, Patrick Tree Miller, Patrick Yin, Paul Wohlhart, Peng Xu 0010, Peter David Fagan, Peter Mitrano, Pierre Sermanet, Pieter Abbeel, Priya Sundaresan, Qiuyu Chen, Rafael Rafailov, Ria Doshi, Roberto Martin Martin, Rohan Baijal, Rosario Scalise, Rose Hendrix, Roy Lin, Runjia Qian, Russell Mendonca, Rutav Shah, Ryan Hoque, Ryan Julian, Samuel Bustamante-Gomez, Sean Kirmani, Sergey Levine, Sherry Moore, Shikhar Bahl, Shivin Dass, Shubham D. Sonawani, Shuran Song, Sichun Xu, Siddhant Haldar, Siddharth Karamcheti, Simeon Adebola, Simon Guist, Soroush Nasiriany, Stefan Schaal, Stefan Welker, Stephen Tian, Subramanian Ramamoorthy, Sudeep Dasari, Suneel Belkhale, Sungjae Park, Suraj Nair 0003, Suvir Mirchandani, Takayuki Osa, Tanmay Gupta, Tatsuya Harada, Tatsuya Matsushima, Ted Xiao, Thomas Kollar, Tianhe Yu, Tianli Ding, Todor Davchev, Tony Z. Zhao, Travis Armstrong, Trevor Darrell, Trinity Chung, Vidhi Jain, Vincent Vanhoucke, Wolfram Burgard, Xiaolong Wang 0004, Xinghao Zhu, Xinyang Geng, Liangwei Xu, Yecheng Jason Ma 0001, Yejin Kim 0003, Yevgen Chebotar, Yilin Wu 0003, Yonatan Bisk, Yoonyoung Cho, Youngwoon Lee, Yuchen Cui, Yueh-Hua Wu, Yujin Tang, Yuke Zhu, Yunchu Zhang, Yunfan Jiang 0001, Yunshuang Li, Yunzhu Li, Yusuke Iwasawa, Yutaka Matsuo, Zehan Ma, Zichen Jeff Cui, Zichen Zhang 0016, Zipeng Lin	ICRA	263
2024	The Power of the Senses: Generalizable Manipulation from Vision and Touch through Masked Multimodal Learning abstract Humans rely on the synergy of their senses for most essential tasks. For tasks requiring object manipulation, we seamlessly and effectively exploit the complementarity of our senses of vision and touch. This paper draws inspiration from such capabilities and aims to find a systematic approach to fuse visual and tactile information in a reinforcement learning setting. We propose Masked Multimodal Learning (M3L), which jointly learns a policy and visual-tactile representations based on masked autoencoding. The representations jointly learned from vision and touch improve sample efficiency, and unlock generalization capabilities beyond those achievable through each of the senses separately. Remarkably, representations learned in a multimodal setting also benefit vision-only policies at test time. We evaluate M3L on three simulated environments with both visual and tactile observations: robotic insertion, door opening, and dexterous in-hand manipulation, demonstrating the benefits of learning a multimodal policy. Videos of the experiments and the open-source code are available at https://sferrazza.cc/m3l_site. Carmelo Sferrazza, Younggyo Seo, Hao Liu 0055, Youngwoon Lee, Pieter Abbeel	IROS	4
2023	Controllability-Aware Unsupervised Skill Discovery abstract One of the key capabilities of intelligent agents is the ability to discover useful skills without external supervision. However, the current unsupervised skill discovery methods are often limited to acquiring simple, easy-to-learn skills due to the lack of incentives to discover more complex, challenging behaviors. We introduce a novel unsupervised skill discovery method, Controllability-aware Skill Discovery (CSD), which actively seeks complex, hard-to-control skills without supervision. The key component of CSD is a controllability-aware distance function, which assigns larger values to state transitions that are harder to achieve with the current skills. Combined with distance-maximizing skill discovery, CSD progressively learns more challenging skills over the course of training as our jointly trained distance function reduces rewards for easy-to-achieve skills. Our experimental results in six robotic manipulation and locomotion environments demonstrate that CSD can discover diverse complex skills including object manipulation and locomotion skills with no supervision, significantly outperforming prior unsupervised skill discovery methods. Videos and code are available at https://seohong.me/projects/csd/ Seohong Park, Kimin Lee, Youngwoon Lee, Pieter Abbeel	ICML	3
2023	Video Prediction Models as Rewards for Reinforcement Learning abstract Specifying reward signals that allow agents to learn complex behaviors is a long-standing challenge in reinforcement learning. A promising approach is to extract preferences for behaviors from unlabeled videos, which are widely available on the internet. We present Video Prediction Rewards (VIPER), an algorithm that leverages pretrained video prediction models as action-free reward signals for reinforcement learning. Specifically, we first train an autoregressive transformer on expert videos and then use the video prediction likelihoods as reward signals for a reinforcement learning agent. VIPER enables expert-level control without programmatic task rewards across a wide range of DMC, Atari, and RLBench tasks. Moreover, generalization of the video prediction model allows us to derive rewards for an out-of-distribution environment where no expert data is available, enabling cross-embodiment generalization for tabletop manipulation. We see our work as starting point for scalable reward specification from unlabeled videos that will benefit from the rapid advances in generative modeling. Source code and datasets are available on the project website: https://ViperRL.com Alejandro Escontrela, Ademi Adeniji, Wilson Yan, Ajay Jain, Xue Bin Peng, Kenneth Y. Goldberg, Youngwoon Lee, Danijar Hafner, Pieter Abbeel	NeurIPS	7
2021	IKEA Furniture Assembly Environment for Long-Horizon Complex Manipulation Tasks abstract The IKEA Furniture Assembly Environment is one of the first benchmarks for testing and accelerating the automation of long-horizon and hierarchical manipulation tasks. The environment is designed to advance reinforcement learning and imitation learning from simple toy tasks to complex tasks requiring both long-term planning and sophisticated low-level control. Our environment features 60 furniture models, 6 robots, photorealistic rendering, and domain randomization. We evaluate reinforcement learning and imitation learning methods on the proposed environment. Our experiments show furniture assembly is a challenging task due to its long horizon and sophisticated manipulation requirements, which provides ample opportunities for future research. The environment is publicly available at https://clvrai.com/furniture. Youngwoon Lee, Edward S. Hu, Joseph J. Lim	ICRA	1
2021	Generalizable Imitation Learning from Observation via Inferring Goal Proximity abstract Task progress is intuitive and readily available task information that can guide an agent closer to the desired goal. Furthermore, a task progress estimator can generalize to new situations. From this intuition, we propose a simple yet effective imitation learning from observation method for a goal-directed task using a learned goal proximity function as a task progress estimator for better generalization to unseen states and goals. We obtain this goal proximity function from expert demonstrations and online agent experience, and then use the learned goal proximity as a dense reward for policy training. We demonstrate that our proposed method can robustly generalize compared to prior imitation learning methods on a set of goal-directed tasks in navigation, locomotion, and robotic manipulation, even with demonstrations that cover only a part of the states. Youngwoon Lee, Andrew Szot, Shao-Hua Sun, Joseph J. Lim	NeurIPS	1
2020	Learning to Coordinate Manipulation Skills via Skill Behavior Diversification Youngwoon Lee, Joseph J. Lim	ICLR	1
2019	Composing Complex Skills by Learning Transition Policies Youngwoon Lee, Shao-Hua Sun, Sriram Somasundaram, Edward S. Hu, Joseph J. Lim	ICLR (Poster)	1
2015	Spherical Hashing: Binary Code Embedding with Hyperspheres abstract Many binary code embedding schemes have been actively studied recently, since they can provide efficient similarity search, and compact data representations suitable for handling large scale image databases. Existing binary code embedding techniques encode high-dimensional data by using hyperplane-based hashing functions. In this paper we propose a novel hypersphere-based hashing function, spherical hashing, to map more spatially coherent data points into a binary code compared to hyperplane-based hashing functions. We also propose a new binary code distance function, spherical Hamming distance, tailored for our hypersphere-based binary coding scheme, and design an efficient iterative optimization process to achieve both balanced partitioning for each hash function and independence between hashing functions. Furthermore, we generalize spherical hashing to support various similarity measures defined by kernel functions. Our extensive experiments show that our spherical hashing technique significantly outperforms state-of-the-art techniques based on hyperplanes across various benchmarks with sizes ranging from one to 75 million of GIST, BoW and VLAD descriptors. The performance gains are consistent and large, up to 100 percent improvements over the second best method among tested methods. These results confirm the unique merits of using hyperspheres to encode proximity regions in high-dimensional spaces. Finally, our method is intuitive and easy to implement. Jae-Pil Heo, Youngwoon Lee, Junfeng He, Shih-Fu Chang, Sung-Eui Yoon	IEEE Trans. Pattern Anal. Mach. Intell.	2
2014	Quadra-embedding: Binary code embedding with low quantization error Youngwoon Lee, Jae-Pil Heo, Sung-Eui Yoon	Comput. Vis. Image Underst.	1
2012	Quadra-Embedding: Binary Code Embedding with Low Quantization Error Youngwoon Lee, Jae-Pil Heo, Sung-Eui Yoon	ACCV (2)	1
2012	Spherical hashing abstract Many binary code encoding schemes based on hashing have been actively studied recently, since they can provide efficient similarity search, especially nearest neighbor search, and compact data representations suitable for handling large scale image databases in many computer vision problems. Existing hashing techniques encode high-dimensional data points by using hyperplane-based hashing functions. In this paper we propose a novel hypersphere-based hashing function, spherical hashing, to map more spatially coherent data points into a binary code compared to hyperplane-based hashing functions. Furthermore, we propose a new binary code distance function, spherical Hamming distance, that is tailored to our hypersphere-based binary coding scheme, and design an efficient iterative optimization process to achieve balanced partitioning of data points for each hash function and independence between hashing functions. Our extensive experiments show that our spherical hashing technique significantly outperforms six state-of-the-art hashing techniques based on hyperplanes across various image benchmarks of sizes ranging from one to 75 million of GIST descriptors. The performance gains are consistent and large, up to 100% improvements. The excellent results confirm the unique merits of the proposed idea in using hyperspheres to encode proximity regions in high-dimensional spaces. Finally, our method is intuitive and easy to implement. Jae-Pil Heo, Youngwoon Lee, Junfeng He, Shih-Fu Chang, Sung-Eui Yoon	CVPR	2