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Wenzhao Lian
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Prim-LAfD: A Framework to Learn and Adapt Primitive-Based Skills from Demonstrations for Insertion Tasks


Dec 02, 2022
Zheng Wu, Wenzhao Lian, Changhao Wang, Mengxi Li, Stefan Schaal, Masayoshi Tomizuka

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* 6 pages, 4 figures 
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Allowing Safe Contact in Robotic Goal-Reaching: Planning and Tracking in Operational and Null Spaces


Oct 31, 2022
Xinghao Zhu, Wenzhao Lian, Bodi Yuan, C. Daniel Freeman, Masayoshi Tomizuka

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* 7 pages, 5 figures, submitted to ICRA 2023 
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Zero-Shot Policy Transfer with Disentangled Task Representation of Meta-Reinforcement Learning


Oct 01, 2022
Zheng Wu, Yichen Xie, Wenzhao Lian, Changhao Wang, Yanjiang Guo, Jianyu Chen, Stefan Schaal, Masayoshi Tomizuka

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* 7 pages, 9 figures 
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Symbolic State Estimation with Predicates for Contact-Rich Manipulation Tasks


Mar 04, 2022
Toki Migimatsu, Wenzhao Lian, Jeannette Bohg, Stefan Schaal

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You Only Demonstrate Once: Category-Level Manipulation from Single Visual Demonstration


Jan 30, 2022
Bowen Wen, Wenzhao Lian, Kostas Bekris, Stefan Schaal

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CaTGrasp: Learning Category-Level Task-Relevant Grasping in Clutter from Simulation


Sep 19, 2021
Bowen Wen, Wenzhao Lian, Kostas Bekris, Stefan Schaal

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Robust Multi-Modal Policies for Industrial Assembly via Reinforcement Learning and Demonstrations: A Large-Scale Study


Mar 23, 2021
Jianlan Luo, Oleg Sushkov, Rugile Pevceviciute, Wenzhao Lian, Chang Su, Mel Vecerik, Ning Ye, Stefan Schaal, Jon Scholz

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Benchmarking Off-The-Shelf Solutions to Robotic Assembly Tasks


Mar 08, 2021
Wenzhao Lian, Tim Kelch, Dirk Holz, Adam Norton, Stefan Schaal

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* 7 pages, 6 figures 
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Interpreting Contact Interactions to Overcome Failure in Robot Assembly Tasks


Jan 07, 2021
Peter A. Zachares, Michelle A. Lee, Wenzhao Lian, Jeannette Bohg

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Learning Dense Rewards for Contact-Rich Manipulation Tasks


Nov 17, 2020
Zheng Wu, Wenzhao Lian, Vaibhav Unhelkar, Masayoshi Tomizuka, Stefan Schaal

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* 8 pages, 5 figures 
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