Publications
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iGibson 2.0: Object-Centric Simulation for Robot Learning of Everyday Household Tasks Chengshu Li*, Fei Xia*, Roberto Martín-Martín*, Michael Lingelbach, Sanjana Srivastava, Bokui Shen, Kent Elliott Vainio, Cem Gokmen, Gokul Dharan, Tanish Jain, Andrey Kurenkov, C. Karen Liu, Hyowon Gweon, Jiajun Wu, Li Fei-Fei, Silvio Savarese Conference on Robot Learning (CoRL), 2021 |
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Co-GAIL Learning Diverse Strategies for Human-Robot Collaboration Chen Wang, Claudia Pérez-D'Arpino, Danfei Xu, Li Fei-Fei, C. Karen Liu, Silvio Savarese Conference on Robot Learning (CoRL), 2021 |
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BEHAVIOR: Benchmark for Everyday Household Activities in Virtual, Interactive, and Ecological Environments Sanjana Srivastava*, Chengshu Li*, Michael Lingelbach*, Roberto Martín-Martín, Fei Xia, Kent Vainio, Zheng Lian, Cem Gokmen, Shyamal Buch, C. Karen Liu, Silvio Savarese, Hyowon Gweon, Jiajun Wu, Li Fei-Fei Conference on Robot Learning (CoRL), 2021 |
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DASH: Modularized Human Manipulation Simulation with Vision and Language for Embodied AI Yifeng Jiang, Michelle Guo, Jiangshan Li, Ioannis Exarchos, Jiajun Wu, and C. Karen Liu ACM SIGGRAPH / Eurographics Symposium on Computer Animation (SCA), 2021 |
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COCOI: Contact-aware Online Context Inference for Generalizable Non-planar Pushing Zhuo Xu, Wenhao Yu, Alexander Herzog, Wenlong Lu, Chuyuan Fu, Masayoshi Tomizuka, Yunfei Bai, C. Karen Liu, Daniel Ho IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021 |
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Fast and Feature-Complete Differentiable Physics for Articulated Rigid Bodies with Contact Keenon Werling, Dalton Omens, Jeongseok Lee, Ioannis Exarchos, C. Karen Liu Robotics: Science and Systems (RSS), 2021 |
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Error-Aware Policy Learning: Zero-Shot Generalization in Partially Observable Dynamic Environments Visak Kumar, Sehoon Ha and C. Karen Liu Robotics Science and Systems (RSS), 2021 |
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Policy Transfer via Kinematic Domain Randomization and Adaptation Ioannis Exarchos, Yifeng Jiang, Wenhao Yu, and C. Karen Liu IEEE International Conference on Robotics and Automation (ICRA), 2021 |
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Protective Policy Transfer Wenhao Yu, Greg Turk and C. Karen Liu IEEE International Conference on Robotics and Automation (ICRA), 2021 |
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SimGAN: Hybrid Simulator Identification for Domain Adaptation via Adversarial Reinforcement Learning Yifeng Jiang, Tingnan Zhang, Daniel Ho, Yunfei Bai, C. Karen Liu, Sergey Levine, and Jie Tan IEEE International Conference on Robotics and Automation (ICRA), 2021 |
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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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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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Policy Transfer with Strategy Optimization Wenhao Yu, C. Karen Liu, and Greg Turk International Conference on Learning Representations (ICLR), 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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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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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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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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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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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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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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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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Synthesis of Detailed Hand Manipulations Using Contact Sampling Yuting Ye and C. Karen Liu ACM Transactions on Graphics (SIGGRAPH), 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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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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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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Stable Proportional-Derivative Controllers Jie Tan, C. Karen Liu, and Greg Turk IEEE Computer Graphics and Applications (CG&A) 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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