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 &nbsp/&nbsp CV &nbsp/&nbsp Google Scholar &nbsp/&nbsp Twitter &nbsp/&nbsp Bluesky &nbsp/&nbsp Github &nbsp/&nbsp LinkedIn

Research

Conference papers, workshop papers, and pre-prints.

	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 &nbsp website &nbsp code &nbsp
	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 &nbsp website &nbsp code &nbsp
	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 &nbsp code &nbsp
	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 &nbsp arxiv &nbsp website &nbsp code &nbsp
	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 &nbsp arxiv &nbsp website &nbsp
	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 &nbsp arxiv &nbsp website &nbsp code &nbsp
	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 &nbsp website &nbsp code &nbsp
	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 &nbsp website &nbsp
	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 &nbsp arxiv &nbsp website &nbsp code &nbsp
	Modality-invariant Visual Odometry for Embodied Vision Marius Memmel, Roman Bachmann, Amir Zamir Conference on Computer Vision and Pattern Recognition (CVPR), 2023 paper &nbsp arxiv &nbsp website &nbsp poster &nbsp code &nbsp
	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 &nbsp arxiv &nbsp code &nbsp
	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 &nbsp arxiv &nbsp code &nbsp poster &nbsp
	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 &nbsp arxiv &nbsp code &nbsp poster &nbsp video &nbsp

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

Design and source code from Jon Barron's website.