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Jacky Liang
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Code as Policies: Language Model Programs for Embodied Control


Sep 19, 2022
Jacky Liang, Wenlong Huang, Fei Xia, Peng Xu, Karol Hausman, Brian Ichter, Pete Florence, Andy Zeng

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Inner Monologue: Embodied Reasoning through Planning with Language Models


Jul 12, 2022
Wenlong Huang, Fei Xia, Ted Xiao, Harris Chan, Jacky Liang, Pete Florence, Andy Zeng, Jonathan Tompson, Igor Mordatch, Yevgen Chebotar, Pierre Sermanet, Noah Brown, Tomas Jackson, Linda Luu, Sergey Levine, Karol Hausman, Brian Ichter

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* Project website: https://innermonologue.github.io 
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Learning Preconditions of Hybrid Force-Velocity Controllers for Contact-Rich Manipulation


Jun 25, 2022
Jacky Liang, Xianyi Cheng, Oliver Kroemer

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Search-Based Task Planning with Learned Skill Effect Models for Lifelong Robotic Manipulation


Sep 17, 2021
Jacky Liang, Mohit Sharma, Alex LaGrassa, Shivam Vats, Saumya Saxena, Oliver Kroemer

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Visual Identification of Articulated Object Parts


Dec 01, 2020
Vicky Zeng, Timothy E. Lee, Jacky Liang, Oliver Kroemer

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Learning to Compose Hierarchical Object-Centric Controllers for Robotic Manipulation


Nov 13, 2020
Mohit Sharma, Jacky Liang, Jialiang Zhao, Alex LaGrassa, Oliver Kroemer

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* Accepted as Plenary Talk at CoRL'20. First two authors contributed equally. For results see https://sites.google.com/view/compositional-object-control/ 
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Contact Localization for Robot Arms in Motion without Torque Sensing


Nov 05, 2020
Jacky Liang, Oliver Kroemer

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A Modular Robotic Arm Control Stack for Research: Franka-Interface and FrankaPy


Nov 04, 2020
Kevin Zhang, Mohit Sharma, Jacky Liang, Oliver Kroemer

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* 7 pages, 4 figures 
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Learning Active Task-Oriented Exploration Policies for Bridging the Sim-to-Real Gap


Jun 02, 2020
Jacky Liang, Saumya Saxena, Oliver Kroemer

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* Published at Robotics: Science and Systems 2020 
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