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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

* 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

* 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

* Published at Robotics: Science and Systems 2020 

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In-Hand Object Pose Tracking via Contact Feedback and GPU-Accelerated Robotic Simulation


Mar 07, 2020
Jacky Liang, Ankur Handa, Karl Van Wyk, Viktor Makoviychuk, Oliver Kroemer, Dieter Fox

* Accepted to the International Conference on Robotics and Automation (ICRA) 2020 

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DexPilot: Vision Based Teleoperation of Dexterous Robotic Hand-Arm System


Oct 14, 2019
Ankur Handa, Karl Van Wyk, Wei Yang, Jacky Liang, Yu-Wei Chao, Qian Wan, Stan Birchfield, Nathan Ratliff, Dieter Fox

* 17 pages, first version of DexPilot 

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Towards Precise Robotic Grasping by Probabilistic Post-grasp Displacement Estimation


Sep 04, 2019
Jialiang Zhao, Jacky Liang, Oliver Kroemer

* Submitted and accepted to 12th Conference on Field and Service Robotics (FSR 2019) 

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GPU-Accelerated Robotic Simulation for Distributed Reinforcement Learning


Oct 24, 2018
Jacky Liang, Viktor Makoviychuk, Ankur Handa, Nuttapong Chentanez, Miles Macklin, Dieter Fox

* Accepted and to appear at the Conference on Robot Learning (CoRL) 2018 

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Dex-Net 2.0: Deep Learning to Plan Robust Grasps with Synthetic Point Clouds and Analytic Grasp Metrics


Aug 08, 2017
Jeffrey Mahler, Jacky Liang, Sherdil Niyaz, Michael Laskey, Richard Doan, Xinyu Liu, Juan Aparicio Ojea, Ken Goldberg

* To appear at Robotics: Science and Systems 2017 

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