Marion Lepert

I'm a final year Ph.D. student in robotics at Stanford University advised by Jeannette Bohg in the Interactive Perception and Robot Learning Lab. My research focuses on leveraging cross-embodied data for robot learning. I received my B.S. in Mechanical Engineering from Stanford.

Previously, I represented the United States at the 2016 Olympic Games in windsurfing.

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Research

Phantom: Training Robots Without Robots Using Only Human Videos.

Marion Lepert, Jiaying Fang, Jeannette Bohg
Preprint
Webpage  •   PDF

Shadow: Leveraging Segmentation Masks for Cross-Embodiment Policy Transfer

Marion Lepert, Ria Doshi, Jeannette Bohg
Conference on Robot Learning (CoRL) 2024
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Droid: A large-scale in-the-wild robot manipulation dataset

Alexander Khazatsky*, Karl Pertsch*, ..., Marion Lepert, ..., Sergey Levine, Chelsea Finn
Robotics: Science and Systems (RSS) 2024
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TidyBot: Personalized robot assistance with large language models

Jimmy Wu, Rika Antonova, Adam Kan, Marion Lepert, Andy Zeng, Shuran Song, Jeannette Bohg, Szymon Rusinkiewicz, Thomas Funkhouser
Autonomous Robots (AuRo) - Special Issue: Large Language Models in Robotics 2023
International Conference on Intelligent Robots and Systems (IROS) 2023
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In-Hand Manipulation of Unknown Objects with Tactile Sensing for Insertion

Marion Lepert*, Chaoyi Pan*, Shenli Yuan, Rika Antonova, Jeannette Bohg
International Conference on Intelligent Robots and Systems (IROS) 2023
Webpage  •   PDF

Trajectotree: Trajectory optimization meets tree search for planning multi-contact dexterous manipulation

Claire Chen, Preston Culbertson, Marion Lepert, Mac Schwager, Jeannette Bohg
International Conference on Intelligent Robots and Systems (IROS) 2021
PDF

* denotes equal contribution