Publications
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The Role of Physics-Based Simulators in Robotics C. Karen Liu and Dan Negrut Annual Review of Control, Robotics, and Autonomous Systems, 2021 |
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Learning Human Search Behavior from Egocentric Visual Inputs Maks Sorokin, Wenhao Yu, Sehoon Ha, and C. Karen Liu EUROGRAPHICS 2021 |
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Estimating Mass Distribution of Articulated Objectsusing Non-prehensile Manipulation K. Niranjan Kumar, Irfa Essa, Sehoon Ha, and C. Karen Liu NeurIPS Object Representations for Learning and Reasoning Workshop, 2020 |
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Learning to Manipulate Amorphous Materials Yunbo Zhang, Wenhao Yu, C. Karen Liu, Charlie Kemp, and Greg Turk Transactions of Graphics (SIGGRAPH Asia), 2020 |
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Policy Transfer via Kinematic Domain Randomization and Adaptation Ioannis Exarchos, Yifeng Jiang, Wenhao Yu, and C. Karen Liu arXiv:2011.01891, 2020 |
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Protective Policy Transfer Wenhao Yu, Greg Turk and C. Karen Liu ArXiv, 2020 |
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Visualizing Movement Control Optimization Landscapes Perttu Hamalainen, Juuso Toikka, Amin Babadi, and C. Karen Liu IEEE Transactions on Visualization and Computer Graphics |
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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 |
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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 |
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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 |
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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 |
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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 |
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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 |
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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 |
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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 |
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Policy Transfer with Strategy Optimization Wenhao Yu, C. Karen Liu, and Greg Turk International Conference on Learning Representations (ICLR), 2019 |
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Data-Augmented Contact Model for Rigid Body Simulation Yifeng Jiang, Jiazheng Sun, C. Karen Liu ArXiv, 2019 |
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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 |
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Expanding Motor Skills through Relay Neural Networks Visak C.V. Kumar, Sehoon Ha, and C. Karen Liu Conference on Robot Learning (CoRL), 2018 |
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Learning Symmetric and Low-energy Locomotion Wenhao Yu, Greg Turk and C. Karen Liu ACM Transactions on Graphics (SIGGRAPH), 2018 |
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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 |
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Data-Driven Approach to Simulating Realistic Human Joint Constraints Yifeng Jiang and C. Karen Liu IEEE International Conference on Robotics and Automation (ICRA), 2018 |
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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 |
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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 |
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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 |
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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 |
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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 |
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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 |
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Differential Dynamic Programming with Nonlinear Constraints Zhaoming Xie, C. Karen Liu, and Kris Hauser IEEE International Conference on Robotics and Automation (ICRA), 2017 |
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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 |
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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 |
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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 |
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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 |
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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. |
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Artist-Directed Dynamics for 2D Animation Yunfei Bai, Danny Kaufman, C. Karen Liu, and Jovan Popovic ACM Transactions on Graphics (SIGGRAPH), 2016 |
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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 |
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Evolutionary Optimization for Parameterized Whole-body Dynamic Motor Skills Sehoon Ha and C. Karen Liu IEEE International Conference on Robotics and Automation (ICRA) 2016 |
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Dexterous Manipulation of Cloth Yunfei Bai, Wenhao Yu, and C. Karen Liu Computer Graphics Forum (Eurographics), 2016 |
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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 |
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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 |
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Online Control of Simulated Humanoids Using Particle Belief Propagation Perttu Hamalainen, Joose Rajamaki, and C. Karen Liu ACM Transactions on Graphics (SIGGRAPH), 2015 |
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Animating Human Dressing Alex Clegg, Jia Tan, Greg Turk, and C. Karen Liu ACM Transactions on Graphics (SIGGRAPH), 2015 |
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Coupling Cloth and Rigid Bodies for Dexterous Manipulation Yunfei Bai and C. Karen Liu ACM SIGGRAPH Conference on Motion, Interaction and Games, 2014 |
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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 |
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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 |
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Iterative Training Of Dynamic Skills Inspired By Human Coaching Techniques Sehoon Ha and C. Karen Liu ACM Transactions on Graphics, 2014 |
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Learning Bicycle Stunts Jie Tan, Yuting Gu, C. Karen Liu, and Greg Turk ACM Transactions on Graphics (SIGGRAPH), 2014 |
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Dexterous Manipulation Using Both Palm and Fingers Yunfei Bai and C. Karen Liu IEEE International Conference on Robotics and Automation (ICRA), 2014 |
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Physics Storyboards Sehoon Ha, Jim McCann, C. Karen Liu, and Jovan Popovic Computer Graphics Forum (Eurogrphics), 2013 |
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Generating Human-like Motion for Robots Michael J. Gielniak, C. Karen Liu, and Andrea L. Thomaz The International Journal of Robotics Research (IJRR), 2013 |
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Synthesis of Concurrent Object Manipulation Tasks Yunfei Bai, Kristin Siu and C. Karen Liu ACM Transactions on Graphics (SIGGRAPH Asia), 2012 |
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Falling and Landing Motion Control for Character Animation Sehoon Ha, Yuting Ye and C. Karen Liu ACM Transactions on Graphics (SIGGRAPH Asia), 2012 |
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Soft Body Locomotion Jie Tan, Greg Turk, and C. Karen Liu ACM Transactions on Graphics (SIGGRAPH), 2012 |
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Synthesis of Detailed Hand Manipulations Using Contact Sampling Yuting Ye and C. Karen Liu ACM Transactions on Graphics (SIGGRAPH), 2012 |
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Modal-Space Control for Articulated Characters Sumit Jain and C. Karen Liu ACM Transactions on Graphics, 2011 |
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Controlling Physics-Based Characters Using Soft Contacts Sumit Jain, and C. Karen Liu ACM Transactions on Graphics (SIGGRAPH Asia), 2011 |
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Articulated Swimming Creatures Jie Tan, Yuting Gu, Greg Turk, and C. Karen Liu ACM Transactions on Graphics (SIGGRAPH), 2011 |
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Human Motion Reconstruction from Force Sensors Sehoon Ha, Yunfei Bai, and C. Karen Liu ACM SIGGRAPH/Eurographics Symposium on Computer Animation (SCA) 2011 |
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Stable Proportional-Derivative Controllers Jie Tan, C. Karen Liu, and Greg Turk IEEE Computer Graphics and Applications (CG&A) 2011 |
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Task-aware Variations Michael J. Gielniak, C. Karen Liu, and Andrea L. Thomaz IEEE International Conference on Robotics and Automation (ICRA), 2011 |
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Synthesis of Responsive Motion Using a Dynamic Model Yuting Ye and C. Karen Liu Computer Graphics Forum (Eurographics), 2010 |
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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 |
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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 |
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Interactive Synthesis of Human-Object Interaction Sumit Jain and C. Karen Liu ACM SIGGRAPH/Eurographics Symposium on Computer Animation (SCA), 2009 |
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Optimization-based Interactive Motion Synthesis Sumit Jain, Yuting Ye, and C. Karen Liu ACM Transactions on Graphics, 2009 |
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Performance-Based Control Interface for Character Animation Satoru Ishigaki, Timothy White, Victor Zordan, and C. Karen Liu ACM Transactions on Graphics (SIGGRAPH), 2009 |
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Dextrous Manipulation from a Grasping Pose C. Karen Liu ACM Transactions on Graphics (SIGGRAPH), 2009 |
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Animating Responsive Characters with Dynamic Constraints in Near-Unactuated Coordinates Yuting Ye and C. Karen Liu ACM Transactions on Graphics (SIGGRAPH Asia), 2008 |
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Synthesis of Interactive Hand Manipulation C. Karen Liu ACM SIGGRAPH/Eurographics Symposium on Computer Animation (SCA), 2008 |
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Composition of Complex Optimal Multi-Character Motions C. Karen Liu, Aaron Hertzmann, and Zoran Popovic ACM SIGGRAPH/Eurographics Symposium on Computer Animation (SCA), 2006 |
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Learning Physics-Based Motion Style with Nonlinear Inverse Optimization C. Karen Liu, Aaron Hertzmann, and Zoran Popovic ACM Transactions on Graphics (SIGGRAPH), 2005 |
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Momentum-Based Parameterization of Dynamic Character Motion Yuihi Abe, C. Karen Liu, and Zoran Popovic ACM SIGGRAPH / Eurographics Symposium on Computer Animation (SCA), 2004 |
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Synthesis of Complex Dynamics Character Motion from Simple Animation C. Karen Liu and Zoran Popovic ACM Transactions on Graphics (SIGGRAPH), 2002 |
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