Gemini Robotics 1.5: Pushing the Frontier of Generalist Robots with Advanced Embodied Reasoning, Thinking, and Motion Transfer

Gemini Robotics team, where I co-led the effort for cross-embodiment learning through Motion Transfer.

arXiv:2510.03342, 2025

Diffusion Model Predictive Control

Guangyao Zhou, Sivaramakrishnan Swaminathan, Rajkumar Vasudeva Raju, J Swaroop Guntupalli, Wolfgang Lehrach, Joseph Ortiz, Antoine Dedieu, Miguel Lázaro-Gredilla, Kevin Murphy

Transactions on Machine Learning Research, 2025

PGMax: Factor Graphs for Discrete Probabilistic Graphical Models and Loopy Belief Propagation in JAX

Guangyao Zhou, Antoine Dedieu, Nishanth Kumar, Wolfgang Lehrach, Miguel Lázaro-Gredilla, Shrinu Kushagra, Dileep George

Journal of Machine Learning Research MLOSS, 2024

RoboTAP: Tracking Arbitrary Points for Few-Shot Visual Imitation

Mel Vecerik, Carl Doersch, Yi Yang, Todor Davchev, Yusuf Aytar, Guangyao Zhou, Raia Hadsell, Lourdes Agapito, Jon Scholz

International Conference on Robotics and Automation (ICRA), 2024

Learning Cognitive Maps from Transformer Representations for Efficient Planning in Partially Observed Environments

Antoine Dedieu, Wolfgang Lehrach, Guangyao Zhou, Dileep George, Miguel Lázaro-Gredilla

International Conference on Machine Learning (ICML), 2024

Space is a latent sequence: Structured sequence learning as a unified theory of representation in the hippocampus

Rajkumar Vasudeva Raju, J Swaroop Guntupalli, Guangyao Zhou, Miguel Lázaro-Gredilla, Dileep George

Accepted, Science Advances, 2024+

3D Neural Embedding Likelihood: Probabilistic Inverse Graphics for Robust 6D Pose Estimation

Guangyao Zhou^‡, Nishad Gothoskar^‡, Lirui Wang, Joshua B Tenenbaum, Dan Gutfreund, Miguel Lázaro-Gredilla, Dileep George, Vikash K Mansinghka

International Conference on Computer Vision (ICCV), 2023

Graph schemas as abstractions for transfer learning, inference, and planning

J Swaroop Guntupalli, Rajkumar Vasudeva Raju, Shrinu Kushagra, Carter Wendelken, Danny Sawyer, Ishan Deshpande, Guangyao Zhou, Miguel Lázaro-Gredilla, Dileep George

arXiv:2302.07350, 2023

Learning noisy-OR Bayesian Networks with Max-Product Belief Propagation

Antoine Dedieu, Guangyao Zhou, Dileep George, Miguel Lázaro-Gredilla

International Conference on Machine Learning (ICML), 2023

Metropolis Augmented Hamiltonian Monte Carlo

Guangyao Zhou

Symposium on Advances in Approximate Bayesian Inference (AABI) 2022

Graphical Models with Attention for Context-Specific Independence and an Application to Perceptual Grouping

Guangyao Zhou, Wolfgang Lehrach, Antoine Dedieu, Miguel Lázaro-Gredilla, Dileep George

arXiv:2112.03371, 2021

Query Training: Learning a Worse Model to Infer Better Marginals in Undirected Graphical Models with Hidden Variables

Miguel Lázaro-Gredilla, Wolfgang Lehrach, Nishad Gothoskar, Guangyao Zhou,
Antoine Dedieu, Dileep George

AAAI Conference on Artificial Ingelligence (AAAI) 2021

Mixed Hamiltonian Monte Carlo for mixed discrete and continuous variables

Guangyao Zhou

Advances in Neural Information Processing Systems (NeurIPS) 2020
Extended abstract accepted as talk at PROBPROG 2020

A detailed mathematical theory of thalamic and cortical microcircuits based on inference
in a generative vision model

Dileep George, Miguel Lázaro-Gredilla, Wolfgang Lehrach, Antoine Dedieu, Guangyao Zhou

bioRxiv 2020.09.09.290601, 2020

Capacities and efficient computation of first passage probabilities

Jackson Loper^‡, Guangyao Zhou^‡, Stuart Geman

Phys. Rev. E 102, 023304, 2020

Base-pair ambiguity and the kinetics of RNA folding

Guangyao Zhou, Jackson Loper, Stuart Geman

BMC Bioinformatics, 20(1):666, 2019

Sparse feature selection by information theory

Guangyao Zhou, Stuart Geman, Joachim M Buhmann

IEEE International Symposium on Information Theory (ISIT), 2014

L1-graph construction using structured sparsity

Guangyao Zhou, Zhiwu Lu, Yuxin Peng

Neurocomputing, 120:441-452, 2013