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Publications

Bodies at Rest: 3D Human Pose and Shape Estimation from a Pressure Image using Synthetic Data
Henry M. Clever, Zackory Erickson, Ari Kapusta, Greg Turk, C.Karen Liu, and Charlie C. Kemp
IEEE Conference on Computer Vision and Pattern Recognition (CVPR), 2020
Learning a Control Policy for Fall Prevention on an Assistive Walking Device
Visak CV Kumar, Sehoon Ha, Gregory Sawicki, C. Karen Liu
IEEE International Conference on Robotics and Automation (ICRA), 2020
Assistive Gym: A Physics Simulation Framework for Assistive Robotics
Zackory Erickson, Vamsee Gangaram, Ariel Kapusta, C. Karen Liu, and Charles C. Kemp
IEEE International Conference on Robotics and Automation (ICRA), 2020
Learning to Collaborate from Simulation for Robot-Assisted Dressing
Alexander Clegg, Zackory Erickson, Patrick Grady, Greg Turk, Charles C. Kemp, C. Karen Liu
IEEE Robotics and Automation Letters (RA-L and ICRA), 2020
Personalized collaborative plans for robot-assisted dressing via optimization and simulation
Ariel Kapusta, Zackory Erickson, Henry M. Clever, Wenhao Yu, C. Karen Liu, Greg Turk, Charles C. Kemp
Autonomous Robots, 2019
Sim-to-Real Transfer for Biped Locomotion
Wenhao Yu, Visak CV Kumar, Greg Turk, and C. Karen Liu
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2019
Synthesis of Biologically Realistic Human Motion Using Joint Torque Actuation
Yifeng Jiang, Tom Wouwe, Friedl De Groote and C. Karen Liu
Transactions on Graphics (SIGGRAPH), 2019
Multidimensional Capacitive Sensing for Robot-Assisted Dressing and Bathing
Zackory Erickson, Henry M. Clever, Vamsee Gangaram, Greg Turk, C. Karen Liu, and Charles C. Kemp
International Conference on Rehabilitation Robotics (ICORR), 2019
Policy Transfer with Strategy Optimization
Wenhao Yu, C. Karen Liu, and Greg Turk
International Conference on Learning Representations (ICLR), 2019
Data-Augmented Contact Model for Rigid Body Simulation
Yifeng Jiang, Jiazheng Sun, C. Karen Liu
ArXiv, 2019
Learning To Dress: Synthesizing Human Dressing Motion via Deep Reinforcement Learning
Alexander Clegg, Wenhao Yu, Jie Tan, C. Karen Liu, and Greg Turk
Transactions on Graphics (SIGGRAPH Asia), 2018
Expanding Motor Skills through Relay Neural Networks
Visak C.V. Kumar, Sehoon Ha, and C. Karen Liu
Conference on Robot Learning (CoRL), 2018
Learning Symmetric and Low-energy Locomotion
Wenhao Yu, Greg Turk and C. Karen Liu
ACM Transactions on Graphics (SIGGRAPH), 2018
Deep Haptic Model Predictive Control for Robot-Assisted Dressing
Zackory Erickson, Henry M. Clever, Greg Turk, C. Karen Liu, and Charles C. Kemp
IEEE International Conference on Robotics and Automation (ICRA), 2018
Data-Driven Approach to Simulating Realistic Human Joint Constraints
Yifeng Jiang and C. Karen Liu
IEEE International Conference on Robotics and Automation (ICRA), 2018
Learning a Unified Control Policy for Safe Falling
Visak C.V. Kumar, Sehoon Ha, and C. Karen Liu
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017
Learning to Navigate Cloth using Haptics
Alex Clegg, Wenhao Yu, Zackory Erickson, C. Karen Liu, and Greg Turk
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017
Probabilistic Completeness of Randomized Possibility Graphs for Bipedal Walking in Semi-Unstructured Environments
Michael X. Grey, Aaron D. Ames, and C. Karen Liu
Robotics Science and Systems (RSS), 2017
Preparing for the Unknown: Learning a Universal Policy with Online System Identification
Wenhao Yu, Jie Tan, C. Karen Liu, and Greg Turk
Robotics: Science and Systems (RSS), 2017
Stair Negotiation Made Easier Using Novel Interactive Energy-Recycling Assistive Stairs
Yun Seong Song, Sehoon Ha, Hsiang Hsu, Lena H. Ting, and C. Karen Liu
PLOS ONE, 2017
Footstep and Motion Planning in Semi-unstructured Environments Using Randomized Possibility Graphs
Michael X. Grey, Aaron D. Ames, and C. Karen Liu
IEEE International Conference on Robotics and Automation (ICRA), 2017
Differential Dynamic Programming with Nonlinear Constraints
Zhaoming Xie, C. Karen Liu, and Kris Hauser
IEEE International Conference on Robotics and Automation (ICRA), 2017
What Does the Person Feel? Learning to Infer Applied Forces During Robot-Assisted Dressing
Zackory Erickson, Alex Clegg, Wenhao Yu, Greg Turk, C. Karen Liu, and Charles C. Kemp
2017 IEEE International Conference on Robotics and Automation (ICRA), 2017
Haptic Data Simulation for Robot-Assisted Dressing
Wenhao Yu, Ariel Kapusta, Jie Tan, Charles C. Kemp, Greg Turk and C. Karen Liu
2017 IEEE International Conference on Robotics and Automation (ICRA), 2017
Humanoid Manipulation Planning using Backward-Forward Search
Michael X. Grey, Caelan R. Garrett, C. Karen Liu, Aaron D. Ames, and Andrea L. Thomaz
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2016
Simulation-Based Design of Dynamic Controllers for Humanoid Balancing
Jie Tan, Zhaoming Xie, Byron Boots, and C. Karen Liu
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2016
Data-Driven Haptic Perception for Robot-Assisted Dressing
Ariel Kapusta, Wenhao Yu, Tapomayukh Bhattacharjee, C. Karen Liu, Greg Turk, and Charles C. Kemp
IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN), 2016.
Artist-Directed Dynamics for 2D Animation
Yunfei Bai, Danny Kaufman, C. Karen Liu, and Jovan Popovic
ACM Transactions on Graphics (SIGGRAPH), 2016
A Linear-Time Variational Integrator for Multibody Systems
Jeongseok Lee, C. Karen Liu, Frank C. Park, and Siddhartha S. Srinivasa
Workshop on the Algorithmic Foundations of Robotics (WAFR), 2016
Evolutionary Optimization for Parameterized Whole-body Dynamic Motor Skills
Sehoon Ha and C. Karen Liu
IEEE International Conference on Robotics and Automation (ICRA) 2016
Dexterous Manipulation of Cloth
Yunfei Bai, Wenhao Yu, and C. Karen Liu
Computer Graphics Forum (Eurographics), 2016
Computer Simulations Imply Forelimb-Dominated Underwater Flight in Plesiosaurs
Shiqiu Liu, Adam S. Smith, Yuting Gu, Jie Tan, C. Karen Liu and Greg Turk
PLoS Computational Biology 2016
Multiple Contact Planning for Minimizing Damage of Humanoid Falls
Sehoon Ha and C. Karen Liu
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2015
Online Control of Simulated Humanoids Using Particle Belief Propagation
Perttu Hamalainen, Joose Rajamaki, and C. Karen Liu
ACM Transactions on Graphics (SIGGRAPH), 2015
Animating Human Dressing
Alex Clegg, Jia Tan, Greg Turk, and C. Karen Liu
ACM Transactions on Graphics (SIGGRAPH), 2015
Coupling Cloth and Rigid Bodies for Dexterous Manipulation
Yunfei Bai and C. Karen Liu
ACM SIGGRAPH Conference on Motion, Interaction and Games, 2014
Leveraging Depth Cameras and Wearable Pressure Sensors for Full-body Kinematics and Dynamics Capture
Peizhao Zhang, Kristin Siu, Jianjie Zhang C. Karen Liu, and Jinxiang Chai
ACM Transactions on Graphics (SIGGRAPH Asia), 2014
Orienting in Mid-air through Configuration Changes to Achieve a Rolling Landing for Reducing Impact after a Fall
Jeffrey T. Bingham, Jeongseok Lee, Ravi N. Haksar, Jun Ueda, and C. Karen Liu
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2014
Iterative Training Of Dynamic Skills Inspired By Human Coaching Techniques
Sehoon Ha and C. Karen Liu
ACM Transactions on Graphics, 2014
Learning Bicycle Stunts
Jie Tan, Yuting Gu, C. Karen Liu, and Greg Turk
ACM Transactions on Graphics (SIGGRAPH), 2014
Dexterous Manipulation Using Both Palm and Fingers
Yunfei Bai and C. Karen Liu
IEEE International Conference on Robotics and Automation (ICRA), 2014
Physics Storyboards
Sehoon Ha, Jim McCann, C. Karen Liu, and Jovan Popovic
Computer Graphics Forum (Eurogrphics), 2013
Generating Human-like Motion for Robots
Michael J. Gielniak, C. Karen Liu, and Andrea L. Thomaz
The International Journal of Robotics Research (IJRR), 2013
Synthesis of Concurrent Object Manipulation Tasks
Yunfei Bai, Kristin Siu and C. Karen Liu
ACM Transactions on Graphics (SIGGRAPH Asia), 2012
Falling and Landing Motion Control for Character Animation
Sehoon Ha, Yuting Ye and C. Karen Liu
ACM Transactions on Graphics (SIGGRAPH Asia), 2012
Soft Body Locomotion
Jie Tan, Greg Turk, and C. Karen Liu
ACM Transactions on Graphics (SIGGRAPH), 2012
Synthesis of Detailed Hand Manipulations Using Contact Sampling
Yuting Ye and C. Karen Liu
ACM Transactions on Graphics (SIGGRAPH), 2012
Modal-Space Control for Articulated Characters
Sumit Jain and C. Karen Liu
ACM Transactions on Graphics, 2011
Controlling Physics-Based Characters Using Soft Contacts
Sumit Jain, and C. Karen Liu
ACM Transactions on Graphics (SIGGRAPH Asia), 2011
Articulated Swimming Creatures
Jie Tan, Yuting Gu, Greg Turk, and C. Karen Liu
ACM Transactions on Graphics (SIGGRAPH), 2011
Human Motion Reconstruction from Force Sensors
Sehoon Ha, Yunfei Bai, and C. Karen Liu
ACM SIGGRAPH/Eurographics Symposium on Computer Animation (SCA) 2011
Stable Proportional-Derivative Controllers
Jie Tan, C. Karen Liu, and Greg Turk
IEEE Computer Graphics and Applications (CG&A) 2011
Task-aware Variations
Michael J. Gielniak, C. Karen Liu, and Andrea L. Thomaz
IEEE International Conference on Robotics and Automation (ICRA), 2011
Synthesis of Responsive Motion Using a Dynamic Model
Yuting Ye and C. Karen Liu
Computer Graphics Forum (Eurographics), 2010
Stylized Motion Generalization Through Adaptation of Velocity Profile
Michael J. Gielniak, C. Karen Liu, and Andrea L. Thomaz
IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN), 2010
Secondary Action in Robot Motion
Michael J. Gielniak, C. Karen Liu, and Andrea L. Thomaz
IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN), 2010
Interactive Synthesis of Human-Object Interaction
Sumit Jain and C. Karen Liu
ACM SIGGRAPH/Eurographics Symposium on Computer Animation (SCA), 2009
Optimization-based Interactive Motion Synthesis
Sumit Jain, Yuting Ye, and C. Karen Liu
ACM Transactions on Graphics, 2009
Performance-Based Control Interface for Character Animation
Satoru Ishigaki, Timothy White, Victor Zordan, and C. Karen Liu
ACM Transactions on Graphics (SIGGRAPH), 2009
Dextrous Manipulation from a Grasping Pose
C. Karen Liu
ACM Transactions on Graphics (SIGGRAPH), 2009
Animating Responsive Characters with Dynamic Constraints in Near-Unactuated Coordinates
Yuting Ye and C. Karen Liu
ACM Transactions on Graphics (SIGGRAPH Asia), 2008
Synthesis of Interactive Hand Manipulation
C. Karen Liu
ACM SIGGRAPH/Eurographics Symposium on Computer Animation (SCA), 2008
Composition of Complex Optimal Multi-Character Motions
C. Karen Liu, Aaron Hertzmann, and Zoran Popovic
ACM SIGGRAPH/Eurographics Symposium on Computer Animation (SCA), 2006
Learning Physics-Based Motion Style with Nonlinear Inverse Optimization
C. Karen Liu, Aaron Hertzmann, and Zoran Popovic
ACM Transactions on Graphics (SIGGRAPH), 2005
Momentum-Based Parameterization of Dynamic Character Motion
Yuihi Abe, C. Karen Liu, and Zoran Popovic
ACM SIGGRAPH / Eurographics Symposium on Computer Animation (SCA), 2004
Synthesis of Complex Dynamics Character Motion from Simple Animation
C. Karen Liu and Zoran Popovic
ACM Transactions on Graphics (SIGGRAPH), 2002