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Marius Memmel
I am a PhD student at the University of Washington
supervised by Prof. Dieter Fox (RSE lab) and Prof. Abhishek Gupta (WEIRD lab).
I interned at NVIDIA in the Seattle Robotics Lab in 2025, working with Ankit Goyal, Anqi Li, and
Fabio Ramos.
I interned at Bosch USA, Pittsburgh in 2024, working with Jonathan Francis and Bingqing Chen.
In 2022, I graduated with a Master's in Computer Science from TU
Darmstadt, focusing on computer vision and robot learning, and minoring in Entrepreneurship &
Innovation.
I was on an exchange at EPFL, where I wrote my thesis
at VILAB supervised by Prof. Amir Zamir (and formally Prof.
Stefan
Roth).
I was a student research assistant at the AI&ML Lab of
Prof. Kristian Kersting (2020-2021)
and MEC-Lab
of Dr.
Anirban Mukhopadhyay (2020-2021) and collaborated with the IAS group of Prof. Jan Peters (2020-2021).
Furthermore, I worked as a part-time Machine Learning Engineer at Sopra Steria SA
(2020).
In 2019, I received my Bachelor of Science in Business Information Systems from the Baden-Württemberg Cooperative State University
Mannheim (DHBW) and got awarded the Best Graduate Award for my academic achievements.
As part of the program, I worked part-time as a Software Engineer at Knauf IT (2016-2019) and
took part in an exchange with Appalachian State University
(2018).
Email /
CV /
Google Scholar
/
Twitter /
Bluesky /
Github /
LinkedIn
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Research
Conference papers, workshop papers, and pre-prints.
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PEEK: Guiding and Minimal Image Representations for Zero-Shot Generalization of Robot Manipulation
Policies
Jesse Zhang*,
Marius Memmel*,
Kevin Kim,
Dieter Fox,
Jesse Thomason,
Fabio Ramos,
Erdem Bıyık,
Abhishek Gupta†,
Anqi Li†
Under Submission
arxiv
website
code
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ManiFlow: A General Robot Manipulation Policy via Consistency Flow Training
Ge Yan,
Jiyue Zhu*,
Yuquan Deng*,
Shiqi Yang,
Ri-Zhao Qiu,
Xuxin Cheng,
Marius Memmel,
Ranjay Krishna†,
Ankit Goyal†,
Xiaolong Wang†,
Dieter Fox†
Conference on Robot Learning (CoRL), 2025
arxiv
website
code
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Making VLMs More Robot-Friendly: Self-Critical Distillation of Low-Level Procedural Reasoning
Chan Young Park*,
Jillian Fisher*,
Marius Memmel,
Dipika Khullar,
Seoho Yun,
Abhishek Gupta,
Yejin Choi
Empirical Methods in Natural Language Processing (EMNLP), 2025
arxiv
code
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STRAP: Robot Sub-Trajectory Retrieval for Augmented Policy Learning
Marius Memmel*,
Jacob Berg*,
Bingqing Chen,
Abhishek Gupta†,
Jonathan Francis†
Conference on Learning Representations (ICLR), 2025
paper
arxiv
website
code
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HAMSTER: Hierarchical Action Models for Open-World Robot Manipulation
Yi Li*,
Yuquan Deng*,
Jesse Zhang*,
Joel Jang,
Marius Memmel,
Caelan Garrett,
Fabio Ramos,
Dieter Fox,
Anqi Li,
Abhishek Gupta,
Ankit Goyal
Conference on Learning Representations (ICLR), 2025
paper
arxiv
website
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DRAWER: Digital Reconstruction and Articulation With Environment Realism
Hongchi Xia,
Entong Su,
Marius Memmel,
Arhan Jain,
Raymond Yu,
Numfor Mbiziwo-Tiapo,
Ali Farhadi,
Abhishek Gupta,
Shenlong Wang,
Wei-Chiu Ma
Computer Vision and Pattern Recognition Conference (CVPR), 2025
paper
arxiv
website
code
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URDFormer: A Pipeline for Constructing Articulated Simulation Environments from Real-World Images
Zoey Chen,
Aaron Walsman,
Marius Memmel,
Kaichun Mo,
Alex Fang,
Dieter Fox*,
Abhishek Gupta*
Robotics: Science and Systems (RSS), 2024
Oral
Presentation at CoRL TGR workshop
paper
website
code
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DROID: A Large-Scale In-The-Wild Robot Manipulation Dataset
Alexander Khazatsky*,
Karl Pertsch*,
Suraj Nair,
...,
Marius Memmel,
...,
Thomas Kollar,
Sergey Levine,
Chelsea Finn
WEIRD Lab lead together with Arhan Jain
Robotics: Science and Systems (RSS), 2024
arxiv
website
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ASID: Active Exploration for System Identification in Robotic Manipulation
Marius Memmel,
Andrew Wagenmaker,
Chuning Zhu,
Patrick Yin,
Dieter Fox,
Abhishek Gupta
Conference on Learning Representations (ICLR), 2024
Oral
Presentation, top 1.2%
paper
arxiv
website
code
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Modality-invariant Visual Odometry for Embodied Vision
Marius Memmel,
Roman Bachmann,
Amir Zamir
Conference on Computer Vision and Pattern Recognition (CVPR), 2023
paper
arxiv
website
poster
code
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Interactive Disentanglement: Learning Concepts by Interacting with their Prototype
Representations
Wolfgang Stammer,
Marius Memmel,
Patrick Schramowski,
Kristian Kersting
Conference on Computer Vision and Pattern Recognition (CVPR), 2022
paper
arxiv
code
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Dimensionality Reduction and Prioritized Exploration for Policy Search
Marius Memmel,
Puze Liu,
Davide Tateo,
Jan Peters
International Conference on Artificial Intelligence and Statistics (AISTATS), 2022
paper
arxiv
code
poster
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Adversarial Continual Learning for Multi-Domain Hippocampal Segmentation
Marius Memmel,
Camila Gonzalez,
Anirban Mukhopadhyay
Domain Adaptation and Representation Transfer (DART) at Medical Image Computing and Computer
Assisted Intervention (MICCAI), 2021
paper
arxiv
code
poster
video
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Honors & Awards
- 2022: European Informatics Student Award: "An incentive for the brightest European students
to experience the University of Washington and the Pacific Northwest."
- 2019-2020: Deutschlandstipendium: Merit-based scholarship given to less than 1% of all
students in Germany
- 2019: Best Graduate: Award for the best graduate of Business Information Systems (Software
Engineering) at DHBW
- 2018: Baden-Württemberg-Stipendium: given to 1500 high-achieving students/year to promote
exchange
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