Allen Z. Ren

Hi there! I'm a PhD student at Princeton, where I work with Ani Majumdar on robotics. I am also a student researcher at Google DeepMind with Andy Zeng, and currently visiting Dorsa Sadigh's group at Stanford.

I design algorithms that enable robots and other agents to operate safely and robustly under diverse environment variations, thus building trust between humans and robots.

Research Interests     G. Scholar     LinkedIn     Twitter

allen dot ren at princeton dot edu

Robots That Ask For Help: Uncertainty Alignment for Large Language Model Planners

Allen Z. Ren, Anushri Dixit, Alexandra Bodrova, Sumeet Singh, Stephen Tu, Noah Brown, Peng Xu, Leila Takayama, Fei Xia, Jake Varley, Zhenjia Xu, Dorsa Sadigh, Andy Zeng, Anirudha Majumdar
Conference on Robot Learning (CoRL), 2023
★ Oral Presentation, Best Student Paper Award, CoRL ★
Webpage  •   PDF  •   Video  •   Code  •   Demo  •   Princeton News

AdaptSim: Task-Driven Simulation Adaptation for Sim-to-Real Transfer

Allen Z. Ren, Hongkai Dai, Benjamin Burchfiel, Anirudha Majumdar
Conference on Robot Learning (CoRL), 2023
Webpage  •   PDF  •   Video

Learning a Universal Human Prior for Dexterous Manipulation from Human Preference

Zihan Ding, Yuanpei Chen, Allen Z. Ren, Shixiang Shane Gu, Hao Dong, Chi Jin
In submission
Webpage  •   PDF

Sim-to-Lab-to-Real: Safe Reinforcement Learning with Shielding and Generalization Guarantees

Kai-Chieh Hsu*, Allen Z. Ren*, Duy Phuong Nguyen, Anirudha Majumdar**, and Jaime F. Fisac**
*Equal contribution in alphabetical order; **Equal advising
Artificial Intelligence Journal (AIJ), October 2022
Webpage  •   PDF  •   Journal  •   Code

Leveraging Language for Accelerated Learning of Tool Manipulation

Allen Z. Ren, Bharat Govil, Tsung-Yen Yang, Karthik Narasimhan, and Anirudha Majumdar
Conference on Robot Learning (CoRL), 2022
Webpage  •   PDF  •   Video  •   Princeton News  •   Quanta Magazine

FlowDrone: Wind Estimation and Gust Rejection on UAVs Using Fast-Response Hot-Wire Flow Sensors

Nathaniel Simon, Allen Z. Ren, Alexander Pique, David Snyder, Daphne Barretto, Marcus Hultmark, and Anirudha Majumdar
IEEE International Conference on Robotics and Automation, 2023
PDF  •   Video  •   Princeton News

Failure Prediction with Statistical Guarantees for Vision-Based Robot Control

Alec Farid, David Snyder, Allen Z. Ren, Anirudha Majumdar
Robotics: Science and Systems (RSS), 2022
PDF  •   Video

Distributionally Robust Policy Learning via Adversarial Environment Generation

Allen Z. Ren, Anirudha Majumdar
IEEE Robotics and Automation Letters (RA-L), 2022
PDF  •   Video  •   Code

Stronger Generalization Guarantees for Robot Learning by Combining Generative Models and Real-World Data

Abhinav Agarwal, Sushant Veer, Allen Z. Ren, and Anirudha Majumdar
IEEE International Conference on Robotics and Automation, 2022

Generalization Guarantees for Imitation Learning

Allen Z. Ren, Sushant Veer, and Anirudha Majumdar
Conference on Robot Learning (CoRL), 2020
PDF  •   Code  •   Video  •   Experiments  •   Princeton News

Multi-Contact Force-Sensing Guitar for Training and Therapy

Zhiyi Ren, Chun-Cheng Hsu, Can Kocabalkanli, Khanh Nguyen, Iulian I Iordachita, Serap Bastepe-Gray, Nathan Scott
IEEE Sensor Conference, 2019
PDF  •   IEEE  •   Video  •   JHU Magazine  •   WUSA9 News  •   Patent

Toward Robust Stair Climbing of the Quadruped using Proprioceptive Sensing

Zhiyi Ren and Aaron Johnson
CMU Robotics Institute Summer Scholars Working Papers Journal, 2018

Dynamic Traversal of Large Gaps by Insects and Legged Robots Reveals a Template

Sean W. Gart, Changxin Yan, Ratan Othayoth, Zhiyi Ren and Chen Li
Bioinspiration and Biomimetics Journal, 2018
PDF  •   Journal

Legged Robots Change Locomotor Modes To Traverse 3-D Obstacles With Varied Stiffness

Zhiyi Ren, Ratan Othayoth, and Chen Li
American Physics Society, Robophysics, 2018


MLBoost Talk

Safe Robotics Lab at Princeton

Apex Lab at SJTU


Dexterous Manipulation Team, Toyota Research Institute


Co-organizer, OOD Workshop, CoRL


Co-organizer, Princeton Robotics Seminar

Reviewer, AIJ, T-RO, RA-L, NeurIPS, L4DC, CoRL, ICRA

I am from Jiangsu, China. My Chinese name is 任至意. As much as I want to use my first name in Chinese, Zhiyi, I find it very difficult to pronounce for non-native speakers.

I enjoy watching and playing soccer, hitting the gym, and traveling/backpacking. I am also an aviation enthusiast and hold a private pilot license my story in Chinese. I am a member of the Princeton Flying Club.

Flying up the Hudson River with N3054E on Dec 30, 2022.