Omar Rayyan

I am a PhD student at UCLA. I do research on robot learning, with a current interest in scaling imitation learning and sim2real manipulation. My broader goal is to develop general purpose minds for everyday robots.

Previously, I was advised by Lerrel Pinto at NYU. In previous summers, I was an intern at Google and a student researcher at Allen AI.

Papers

MolmoBoT: Large-Scale Simulation Enables Zero-Shot Manipulation

Abhay Deshpande*, Maya Guru*, ...Rose Hendrix*, Snehal Jauhri*, Ainaz Eftekhar, Rohun Tripathi, Max Argus, Jordi Salvador, Haoquan Fang, Matthew Wallingford, Wilbert Pumacay, Yejin Kim, Quinn Pfeifer, Ying-Chun Lee, Piper Wolters, Omar Rayyan, ...Mingtong Zhang, Jiafei Duan, Karen Farley, Winson Han, Eli Vanderbilt, Dieter Fox, Ali Farhadi, Georgia Chalvatzaki, Dhruv Shah, Ranjay Krishna

In Submission

(blog, paper)

MolmoSpaces: A Large-Scale Open Ecosystem for Robot Navigation & Manipulation

Omar Rayyan*, Yejin Kim*, Wilbert Pumacay*, Max Argus*, ...Winson Han, Eli VanderBilt, Jordi Salvador, Abhay Deshpande, Rose Hendrix, Snehal Jauhri, Shuo Liu, Nur Muhammad Mahi Shafiullah, Maya Guru, Arjun Guru, Ainaz Eftekhar, Karen Farley, Donovan Clay, Jiafei Duan, Piper Wolters, Alvaro Herrasti, Ying-Chun Lee, Georgia Chalvatzaki, Yuchen Cui, Ali Farhadi, Dieter Fox, Ranjay Krishna

RSS 2026

(blog, talk, paper, code, leaderboard)

CAP: Contact Conditioning Creates Strong Robot Utility Models

Zichen Jeff Cui, Omar Rayyan, Haritheja Etukuru, Bowen Tan, ...Zavier Andrianarivo, Zicheng Teng, Yihang Zhou, Krish Mehta, Nicholas Wojno, Kevin Yuanbo Wu, Manan H Anjaria, Ziyuan Wu, Manrong Mao, Guangxun Zhang, Binit Shah, Yejin Kim, Soumith Chintala, Lerrel Pinto, Nur Muhammad Mahi Shafiullah

RSS 2026

(paper, website)

MV-UMI: A Scalable Multi-View Interface for Cross-Embodiment Learning

Omar Rayyan, John Abanes, Mahmoud Hafez, Anthony Tzes, Fares Abu-Dakka

In Submission

(paper, website)

TeleDex: Accessible Dexterous Teleoperation

Omar Rayyan, Maximilian Gilles, Yuchen Cui

(paper, website, code)

COBALT: Crowdsourcing Robot Learning via Cloud-Based Teleoperation

Ayush Agarwal*, Ansh Gandhi*, Jeremy A. Collins, Omar Rayyan, ...Aryan Sarswat, Ranjani Koushik, Kaavya Menon, Masoud Moghani, Ajay Mandlekar, Animesh Garg

ICRA 2026

(paper, website)

RCM-Constrained Manipulator Trajectory Tracking Using Differential Kinematics Control

Omar Rayyan, Vinicius Goncalves, Nikolaos Evangeliou, Anthony Tzes

ICAR 2023

(paper, code)

Open-Vocab Beyond Pick and Place

With Guidance from Mahi Shafiullah

(code)