Letian (Max) Fu

I am a final year PhD student at UC Berkeley advised by Professor Ken Goldberg. I am also a research intern at NVIDIA, working with Jim Fan and Yuke Zhu.

I work on multi-modal models for both perception and robot learning. I am interested in scaling robot foundation models by investigating various approaches to expand robot datasets and leveraging priors from existing foundation models.

I received B.A./M.S. in Computer Science and Applied Mathematics from UC Berkeley.

Email / Google Scholar / Twitter / Resume

Publications

	CaP-X: A Framework for Benchmarking and Improving Coding Agents for Robot Manipulation Letian Fu, Justin Yu, Karim El-Refai, Ethan Kou, Haoru Xue, Huang Huang, Wenli Xiao, Guanzhi Wang, Fei-Fei Li, Guanya Shi, Jiajun Wu, Shankar Sastry, Yuke Zhu, Ken Goldberg, Linxi Fan Equal contribution Arxiv 2026, Paper, Website, Code
	EgoScale: Scaling Dexterous Manipulation with Diverse Egocentric Human Data Ruijie Zheng, Dantong Niu, Yuqi Xie, Jing Wang, Mengda Xu, Yunfan Jiang, Fernando Castaneda, Fengyuan Hu, You Liang Tan, Letian Fu, Trevor Darrell, Furong Huang, Yuke Zhu, Danfei Xu, Linxi Fan Arxiv 2026, Paper, Website
	GR00T N1.6: An Improved Open Foundation Model for Generalist Humanoid Robots NVIDIA GEAR Team (including Letian Fu) Technical Report 2025, Website, Code, Model
	VisGym: Diverse, Customizable, Scalable Environments for Multimodal Agents Zirui Wang, Junyi Zhang, Jiaxin Ge, Long Lian, Letian Fu, Lisa Dunlap, Ken Goldberg, Xudong Wang, Ion Stoica, David M. Chan, Sewon Min, Joseph E. Gonzalez Equal contribution Arxiv 2026, Paper, Website, Code
	Real2Render2Real: Scaling Robotic Manipulation Data Without Dynamics Simulation or Robot Hardware Justin Yu, Letian Fu, Huang Huang, Karim El-Refai, Rares Ambrus, Richard Cheng, Muhammad Zubair Irshad, Ken Goldberg Equal contribution CoRL* 2025, Oral Presentation, Paper, Website, Code
	🦦OTTER: A Vision-Language-Action Model with Text-Aware Visual Feature Extraction Huang Huang, Fangchen Liu, Letian Fu, Tingfan Wu, Mustafa Mukadam, Jitendra Malik, Ken Goldberg, Pieter Abbeel Equal contribution ICML 2025, Paper, Website, Code
	In-Context Imitation Learning via Next-Token Prediction Letian Fu, Huang Huang, Gaurav Datta, Lawrence Yunliang Chen, William Chung-Ho Panitch, Fangchen Liu, Hui Li, Ken Goldberg Equal contribution ICRA 2025, Paper, Website, Code, Dataset
	A Touch, Vision, and Language Dataset for Multimodal Alignment Letian Fu, Gaurav Datta, Huang Huang, William Chung-Ho Panitch, Jaimyn Drake, Joseph Ortiz, Mustafa Mukadam, Mike Lambeta, Roberto Calandra, Ken Goldberg Equal contribution ICML* 2024, Oral Presentation, OpenReview, Website, Code, Dataset
	Rethinking Patch Dependence for Masked Autoencoders Letian Fu, Long Lian, Renhao Wang, Baifeng Shi, Xudong Wang, Adam Yala†, Trevor Darrell†, Alexei A Efros†, Ken Goldberg† Equal contribution, †Equal advising TMLR* 2025, Paper, Website, Code
	Robot Learning with Sensorimotor Pre-training Ilija Radosavovic, Baifeng Shi, Letian Fu, Ken Goldberg, Trevor Darrell, Jitendra Malik CoRL 2023, Oral Presentation, OpenReview
	Safely Learning Visuo-Tactile Feedback Policies in Real For Industrial Insertion Letian Fu, Huang Huang, Lars Berscheid, Hui Li, Ken Goldberg, Sachin Chitta, ICRA 2023, arXiv
	Evo-NeRF: Evolving NeRF for Sequential Robot Grasping Justin Kerr, Letian Fu, Huang Huang, Yahav Avigal, Matthew Tancik, Jeffrey Ichnowski, Angjoo Kanazawa, Ken Goldberg CoRL 2022, Oral Presentation, OpenReview
	Mechanical Search on Shelves with Efficient Stacking and Destacking of Objects Letian Fu, Huang Huang, Michael Danielczuk, Chung Min Kim, Zachary Tam, Jeffrey Ichnowski, Anelia Angelova, Brian Ichter, and Ken Goldberg, Equal contribution ISRR* 2022, arXiv
	LEGS: Learning Efficient Grasp Sets for Exploratory Grasping Letian Fu, Michael Danielczuk, Ashwin Balakrishna, Daniel S. Brown, Jeffrey Ichnowski, Eugen Solowjow, Ken Goldberg, ICRA 2022, IEEE, arxiv
	Mechanical Search on Shelves using a Novel "Bluction" Tool Huang Huang, Michael Danielczuk, Chung Min Kim, Letian Fu, Zachary Tam, Jeffrey Ichnowski, Anelia Angelova, Brain Ichter, Ken Goldberg, ICRA 2022, IEEE, arXiv

Website is in part based on Jon Barron's site.

	CaP-X: A Framework for Benchmarking and Improving Coding Agents for Robot Manipulation Letian Fu, Justin Yu, Karim El-Refai, Ethan Kou, Haoru Xue, Huang Huang, Wenli Xiao, Guanzhi Wang, Fei-Fei Li, Guanya Shi, Jiajun Wu, Shankar Sastry, Yuke Zhu, Ken Goldberg, Linxi Fan Equal contribution Arxiv 2026, Paper, Website, Code
	EgoScale: Scaling Dexterous Manipulation with Diverse Egocentric Human Data Ruijie Zheng, Dantong Niu, Yuqi Xie, Jing Wang, Mengda Xu, Yunfan Jiang, Fernando Castaneda, Fengyuan Hu, You Liang Tan, Letian Fu, Trevor Darrell, Furong Huang, Yuke Zhu, Danfei Xu, Linxi Fan Arxiv 2026, Paper, Website
	GR00T N1.6: An Improved Open Foundation Model for Generalist Humanoid Robots NVIDIA GEAR Team (including Letian Fu) Technical Report 2025, Website, Code, Model
	VisGym: Diverse, Customizable, Scalable Environments for Multimodal Agents Zirui Wang, Junyi Zhang, Jiaxin Ge, Long Lian, Letian Fu, Lisa Dunlap, Ken Goldberg, Xudong Wang, Ion Stoica, David M. Chan, Sewon Min, Joseph E. Gonzalez Equal contribution Arxiv 2026, Paper, Website, Code
	Real2Render2Real: Scaling Robotic Manipulation Data Without Dynamics Simulation or Robot Hardware Justin Yu, Letian Fu, Huang Huang, Karim El-Refai, Rares Ambrus, Richard Cheng, Muhammad Zubair Irshad, Ken Goldberg Equal contribution CoRL* 2025, Oral Presentation, Paper, Website, Code
	🦦OTTER: A Vision-Language-Action Model with Text-Aware Visual Feature Extraction Huang Huang, Fangchen Liu, Letian Fu, Tingfan Wu, Mustafa Mukadam, Jitendra Malik, Ken Goldberg, Pieter Abbeel Equal contribution ICML 2025, Paper, Website, Code
	In-Context Imitation Learning via Next-Token Prediction Letian Fu, Huang Huang, Gaurav Datta, Lawrence Yunliang Chen, William Chung-Ho Panitch, Fangchen Liu, Hui Li, Ken Goldberg Equal contribution ICRA 2025, Paper, Website, Code, Dataset
	A Touch, Vision, and Language Dataset for Multimodal Alignment Letian Fu, Gaurav Datta, Huang Huang, William Chung-Ho Panitch, Jaimyn Drake, Joseph Ortiz, Mustafa Mukadam, Mike Lambeta, Roberto Calandra, Ken Goldberg Equal contribution ICML* 2024, Oral Presentation, OpenReview, Website, Code, Dataset
	Rethinking Patch Dependence for Masked Autoencoders Letian Fu, Long Lian, Renhao Wang, Baifeng Shi, Xudong Wang, Adam Yala†, Trevor Darrell†, Alexei A Efros†, Ken Goldberg† Equal contribution, †Equal advising TMLR* 2025, Paper, Website, Code
	Robot Learning with Sensorimotor Pre-training Ilija Radosavovic, Baifeng Shi, Letian Fu, Ken Goldberg, Trevor Darrell, Jitendra Malik CoRL 2023, Oral Presentation, OpenReview
	Safely Learning Visuo-Tactile Feedback Policies in Real For Industrial Insertion Letian Fu, Huang Huang, Lars Berscheid, Hui Li, Ken Goldberg, Sachin Chitta, ICRA 2023, arXiv
	Evo-NeRF: Evolving NeRF for Sequential Robot Grasping Justin Kerr, Letian Fu, Huang Huang, Yahav Avigal, Matthew Tancik, Jeffrey Ichnowski, Angjoo Kanazawa, Ken Goldberg CoRL 2022, Oral Presentation, OpenReview
	Mechanical Search on Shelves with Efficient Stacking and Destacking of Objects Letian Fu, Huang Huang, Michael Danielczuk, Chung Min Kim, Zachary Tam, Jeffrey Ichnowski, Anelia Angelova, Brian Ichter, and Ken Goldberg, Equal contribution ISRR* 2022, arXiv
	LEGS: Learning Efficient Grasp Sets for Exploratory Grasping Letian Fu, Michael Danielczuk, Ashwin Balakrishna, Daniel S. Brown, Jeffrey Ichnowski, Eugen Solowjow, Ken Goldberg, ICRA 2022, IEEE, arxiv
	Mechanical Search on Shelves using a Novel "Bluction" Tool Huang Huang, Michael Danielczuk, Chung Min Kim, Letian Fu, Zachary Tam, Jeffrey Ichnowski, Anelia Angelova, Brain Ichter, Ken Goldberg, ICRA 2022, IEEE, arXiv