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Fast and Feature-Complete Differentiable Physics for Articulated Rigid Bodies with Contact


Apr 01, 2021
Keenon Werling, Dalton Omens, Jeongseok Lee, Ioannis Exarchos, C. Karen Liu


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Error-Aware Policy Learning: Zero-Shot Generalization in Partially Observable Dynamic Environments


Mar 13, 2021
Visak Kumar, Sehoon Ha, C. Karen Liu


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Task-Specific Design Optimization and Fabrication for Inflated-Beam Soft Robots with Growable Discrete Joints


Mar 08, 2021
Ioannis Exarchos, Brian H. Do, Fabio Stroppa, Margaret M. Coad, Allison M. Okamura, C. Karen Liu


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Learning to Manipulate Amorphous Materials


Mar 03, 2021
Yunbo Zhang, Wenhao Yu, C. Karen Liu, Charles C. Kemp, Greg Turk


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SimGAN: Hybrid Simulator Identification for Domain Adaptation via Adversarial Reinforcement Learning


Jan 15, 2021
Yifeng Jiang, Tingnan Zhang, Daniel Ho, Yunfei Bai, C. Karen Liu, Sergey Levine, Jie Tan

* Submitted to ICRA 2021 

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Protective Policy Transfer


Dec 11, 2020
Wenhao Yu, C. Karen Liu, Greg Turk


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Perspectives on Sim2Real Transfer for Robotics: A Summary of the R:SS 2020 Workshop


Dec 07, 2020
Sebastian Höfer, Kostas Bekris, Ankur Handa, Juan Camilo Gamboa, Florian Golemo, Melissa Mozifian, Chris Atkeson, Dieter Fox, Ken Goldberg, John Leonard, C. Karen Liu, Jan Peters, Shuran Song, Peter Welinder, Martha White

* Summary of the "2nd Workshop on Closing the Reality Gap in Sim2Real Transfer for Robotics" held in conjunction with "Robotics: Science and System 2020". Website: https://sim2real.github.io/ 

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COCOI: Contact-aware Online Context Inference for Generalizable Non-planar Pushing


Nov 23, 2020
Zhuo Xu, Wenhao Yu, Alexander Herzog, Wenlong Lu, Chuyuan Fu, Masayoshi Tomizuka, Yunfei Bai, C. Karen Liu, Daniel Ho


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Learning Human Search Behavior from Egocentric Visual Inputs


Nov 06, 2020
Maks Sorokin, Wenhao Yu, Sehoon Ha, C. Karen Liu

* (preprint) submitted to EUROGRAPHICS 2021 

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Policy Transfer via Kinematic Domain Randomization and Adaptation


Nov 03, 2020
Ioannis Exarchos, Yifeng Jiang, Wenhao Yu, C. Karen Liu

* Submitted to the 2021 IEEE International Conference on Robotics and Automation (ICRA) 

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Learning Task-Agnostic Action Spaces for Movement Optimization


Sep 22, 2020
Amin Babadi, Michiel van de Panne, C. Karen Liu, Perttu Hämäläinen


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Bodies at Rest: 3D Human Pose and Shape Estimation from a Pressure Image using Synthetic Data


Apr 02, 2020
Henry M. Clever, Zackory Erickson, Ariel Kapusta, Greg Turk, C. Karen Liu, Charles C. Kemp

* 18 pages, 18 figures, 5 tables. Accepted for oral presentation at CVPR 2020 

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Assistive Gym: A Physics Simulation Framework for Assistive Robotics


Oct 10, 2019
Zackory Erickson, Vamsee Gangaram, Ariel Kapusta, C. Karen Liu, Charles C. Kemp

* 8 pages, 5 figures, 2 tables 

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Learning a Control Policy for Fall Prevention on an Assistive Walking Device


Sep 23, 2019
Visak C V Kumar, Sehoon Ha, Gergory Sawicki, C. Karen Liu


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Visualizing Movement Control Optimization Landscapes


Sep 18, 2019
Perttu Hämäläinen, Juuso Toikka, C. Karen Liu

* Fixed author name 

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Modeling Collaboration for Robot-assisted Dressing Tasks


Sep 14, 2019
Alexander Clegg, Charles C. Kemp, Greg Turk, C. Karen Liu

* 8 pages, 7 figures, 3 tables 

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Estimating Mass Distribution of Articulated Objects through Physical Interaction


Jul 09, 2019
Niranjan Kumar Kannabiran, Irfan Essa, C. Karen Liu


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Synthesis of Biologically Realistic Human Motion Using Joint Torque Actuation


Apr 30, 2019
Yifeng Jiang, Tom Van Wouwe, Friedl De Groote, C. Karen Liu

* 12 pages, 8 figures 

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Multidimensional Capacitive Sensing for Robot-Assisted Dressing and Bathing


Apr 03, 2019
Zackory Erickson, Henry M. Clever, Vamsee Gangaram, Greg Turk, C. Karen Liu, Charles C. Kemp

* 8 pages, 16 figures, International Conference on Rehabilitation Robotics 2019 

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Sim-to-Real Transfer for Biped Locomotion


Mar 04, 2019
Wenhao Yu, Visak CV Kumar, Greg Turk, C. Karen Liu


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Policy Transfer with Strategy Optimization


Dec 04, 2018
Wenhao Yu, C. Karen Liu, Greg Turk


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Expanding Motor Skills through Relay Neural Networks


Nov 15, 2018
Visak C. V. Kumar, Sehoon Ha, C. Karen Liu


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Data-Augmented Contact Model for Rigid Body Simulation


Sep 23, 2018
Yifeng Jiang, Jiazheng Sun, C. Karen Liu

* 7 pages, 7 figures. Submitted to ICRA 2019. Added video attachment with full 3D experiments: https://youtu.be/AKSD8TabDV8 

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Learning Symmetric and Low-energy Locomotion


May 12, 2018
Wenhao Yu, Greg Turk, C. Karen Liu

* ACM Transactions on Graphics 37(4), August 2018 
* Accepted to SIGGRAPH 2018. Supplementary video: https://www.youtube.com/watch?v=zkH90rU-uew&feature=youtu.be 

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Data-Driven Approach to Simulating Realistic Human Joint Constraints


Apr 08, 2018
Yifeng Jiang, C. Karen Liu

* To appear at ICRA 2018; 6 pages, 9 figures; for associated video, see https://youtu.be/wzkoE7wCbu0 

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Multi-task Learning with Gradient Guided Policy Specialization


Mar 02, 2018
Wenhao Yu, C. Karen Liu, Greg Turk


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A Linear-Time Variational Integrator for Multibody Systems


Feb 05, 2018
Jeongseok Lee, C. Karen Liu, Frank C. Park, Siddhartha S. Srinivasa

* Submitted to the International Workshop on the Algorithmic Foundations of Robotics (2016) 

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Deep Haptic Model Predictive Control for Robot-Assisted Dressing


Oct 27, 2017
Zackory Erickson, Henry M. Clever, Greg Turk, C. Karen Liu, Charles C. Kemp

* 8 pages, 12 figures, 1 table 

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Learning Human Behaviors for Robot-Assisted Dressing


Sep 20, 2017
Alexander Clegg, Wenhao Yu, Jie Tan, Charlie C. Kemp, Greg Turk, C. Karen Liu

* 8 pages, 9 figures 

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