C. Karen Liu

Stanford University

収録論文 86本 ・ フィジカルAI/ロボット学習

※arXiv著者名で収集。同姓同名の別人の論文が含まれる場合があります。

論文

• シミュレーションでの視覚的器用さの事前学習
  器用操作/事前学習2026/8/16

  VRヘッドセットを使い、人間がシミュレーション内で物体を操作して収集したデータで、多指ロボットハンドの操作ポリシーを事前学習する手法を提案。実機での微調整により、ゼロから学習するよりも高い性能を達成した。

• Transformer Transformer: A Unified Model for Motion-Conditioned Robot Co-design
  2026/7/1
• Handroid: Bridging Dexterous Hand and Humanoid
  2026/7/1
• Cloak: Zero-Shot Cross-Embodiment Manipulation by Masking the End-Effector from the VLA
  2026/6/1
• Mana: Dexterous Manipulation of Articulated Tools
  2026/6/1
• LadderMan: Learning Humanoid Perceptive Ladder Climbing
  2026/6/1
• Play2Perfect: What Matters in Dexterous Play Pretraining for Precise Assembly?
  2026/6/1
• SceneBot: Contact-Prompted General Humanoid Whole Body Tracking with Scene-Interaction
  2026/6/1
• Safe and Steerable Geometric Motion Policies for Robotic Dexterous Manipulation
  2026/5/1
• Learning Humanoid Navigation from Human Data
  2026/4/1
• Perceptive Humanoid Parkour: Chaining Dynamic Human Skills via Motion Matching
  2026/2/1
• SimToolReal: An Object-Centric Policy for Zero-Shot Dexterous Tool Manipulation
  2026/2/1
• Locomotion Beyond Feet
  2026/1/1
• CHIP: Adaptive Compliance for Humanoid Control through Hindsight Perturbation
  2025/12/1
• TWIST2: Scalable, Portable, and Holistic Humanoid Data Collection System
  2025/11/4
• TWIST2: Scalable, Portable, and Holistic Humanoid Data Collection System
  2025/11/1
• GentleHumanoid: Learning Upper-body Compliance for Contact-rich Human and Object Interaction
  2025/11/1
• Retargeting Matters: General Motion Retargeting for Humanoid Motion Tracking
  2025/10/1
• ResMimic: From General Motion Tracking to Humanoid Whole-body Loco-Manipulation via Residual Learning
  2025/10/1
• OmniRetarget: Interaction-Preserving Data Generation for Humanoid Whole-Body Loco-Manipulation and Scene Interaction
  2025/9/1
• Learning to Ball: Composing Policies for Long-Horizon Basketball Moves
  2025/9/1
• VisualMimic: Visual Humanoid Loco-Manipulation via Motion Tracking and Generation
  2025/9/1
• BeyondMimic: From Motion Tracking to Versatile Humanoid Control via Guided Diffusion
  2025/8/1
• Robot Trains Robot: Automatic Real-World Policy Adaptation and Learning for Humanoids
  2025/8/1
• Hand-Eye Autonomous Delivery: Learning Humanoid Navigation, Locomotion and Reaching
  2025/8/1
• TWIST: Teleoperated Whole-Body Imitation System
  2025/5/1
• Crossing the Human-Robot Embodiment Gap with Sim-to-Real RL using One Human Demonstration
  2025/4/1
• Chain-of-Modality: Learning Manipulation Programs from Multimodal Human Videos with Vision-Language-Models
  2025/4/1
• Flying Vines: Design, Modeling, and Control of a Soft Aerial Robotic Arm
  2025/3/1
• ToddlerBot: Open-Source ML-Compatible Humanoid Platform for Loco-Manipulation
  2025/2/1
• Humanoid Locomotion and Manipulation: Current Progress and Challenges in Control, Planning, and Learning
  2025/1/1
• Object-Centric Dexterous Manipulation from Human Motion Data
  2024/11/1
• ARCap: Collecting High-quality Human Demonstrations for Robot Learning with Augmented Reality Feedback
  2024/10/1
• AddBiomechanics Dataset: Capturing the Physics of Human Motion at Scale
  2024/6/1
• PDP: Physics-Based Character Animation via Diffusion Policy
  2024/6/1
• One-Shot Transfer of Long-Horizon Extrinsic Manipulation Through Contact Retargeting
  2024/4/1
• SpringGrasp: Synthesizing Compliant, Dexterous Grasps under Shape Uncertainty
  2024/4/1
• DexCap: Scalable and Portable Mocap Data Collection System for Dexterous Manipulation
  2024/3/1
• BEHAVIOR-1K: A Human-Centered, Embodied AI Benchmark with 1,000 Everyday Activities and Realistic Simulation
  2024/3/1
• Learning to Design and Use Tools for Robotic Manipulation
  2023/11/1
• Sequential Dexterity: Chaining Dexterous Policies for Long-Horizon Manipulation
  2023/9/1
• Hierarchical Planning and Control for Box Loco-Manipulation
  2023/6/1
• Synthesize Dexterous Nonprehensile Pregrasp for Ungraspable Objects
  2023/5/1
• On Designing a Learning Robot: Improving Morphology for Enhanced Task Performance and Learning
  2023/3/1
• Physically Plausible Animation of Human Upper Body from a Single Image
  2022/12/1
• Trajectory and Sway Prediction Towards Fall Prevention
  2022/9/1
• Learning Diverse and Physically Feasible Dexterous Grasps with Generative Model and Bilevel Optimization
  2022/7/1
• Real-time Model Predictive Control and System Identification Using Differentiable Physics Simulation
  2022/2/1
• Learning to Navigate Sidewalks in Outdoor Environments
  2021/9/1
• Co-GAIL: Learning Diverse Strategies for Human-Robot Collaboration
  2021/8/1
• iGibson 2.0: Object-Centric Simulation for Robot Learning of Everyday Household Tasks
  2021/8/1
• BEHAVIOR: Benchmark for Everyday Household Activities in Virtual, Interactive, and Ecological Environments
  2021/8/1
• DASH: Modularized Human Manipulation Simulation with Vision and Language for Embodied AI
  2021/8/1
• Characterizing Multidimensional Capacitive Servoing for Physical Human-Robot Interaction
  2021/5/1
• Task-Specific Design Optimization and Fabrication for Inflated-Beam Soft Robots with Growable Discrete Joints
  2021/3/1
• Error-Aware Policy Learning: Zero-Shot Generalization in Partially Observable Dynamic Environments
  2021/3/1
• Fast and Feature-Complete Differentiable Physics for Articulated Rigid Bodies with Contact
  2021/3/1
• SimGAN: Hybrid Simulator Identification for Domain Adaptation via Adversarial Reinforcement Learning
  2021/1/1
• Perspectives on Sim2Real Transfer for Robotics: A Summary of the R:SS 2020 Workshop
  2020/12/1
• Protective Policy Transfer
  2020/12/1
• COCOI: Contact-aware Online Context Inference for Generalizable Non-planar Pushing
  2020/11/1
• Learning Human Search Behavior from Egocentric Visual Inputs
  2020/11/1
• Policy Transfer via Kinematic Domain Randomization and Adaptation
  2020/11/1
• Learning Task-Agnostic Action Spaces for Movement Optimization
  2020/9/1
• Assistive Gym: A Physics Simulation Framework for Assistive Robotics
  2019/10/1
• Learning a Control Policy for Fall Prevention on an Assistive Walking Device
  2019/9/1
• Learning to Collaborate from Simulation for Robot-Assisted Dressing
  2019/9/1
• Estimating Mass Distribution of Articulated Objects using Non-prehensile Manipulation
  2019/7/1
• Synthesis of Biologically Realistic Human Motion Using Joint Torque Actuation
  2019/4/1
• Multidimensional Capacitive Sensing for Robot-Assisted Dressing and Bathing
  2019/4/1
• Sim-to-Real Transfer for Biped Locomotion
  2019/3/1
• Policy Transfer with Strategy Optimization
  2018/10/1
• Data-Augmented Contact Model for Rigid Body Simulation
  2018/3/1
• Learning Symmetric and Low-energy Locomotion
  2018/1/1
• Expanding Motor Skills through Relay Neural Networks
  2017/9/1
• Deep Haptic Model Predictive Control for Robot-Assisted Dressing
  2017/9/1
• Data-Driven Approach to Simulating Realistic Human Joint Constraints
  2017/9/1
• Multi-task Learning with Gradient Guided Policy Specialization
  2017/9/1
• Learning Human Behaviors for Robot-Assisted Dressing
  2017/9/1
• Learning to Navigate Cloth using Haptics
  2017/3/1
• Probabilistic Completeness of Randomized Possibility Graphs Applied to Bipedal Walking in Semi-unstructured Environments
  2017/2/1
• Preparing for the Unknown: Learning a Universal Policy with Online System Identification
  2017/2/1
• Traversing Environments Using Possibility Graphs with Multiple Action Types
  2016/10/1
• Footstep and Motion Planning in Semi-unstructured Environments Using Randomized Possibility Graphs
  2016/10/1
• A Linear-Time Variational Integrator for Multibody Systems
  2016/9/1
• Traversing Environments Using Possibility Graphs for Humanoid Robots
  2016/8/1