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portfolio
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publications
DiffSRL: Learning Dynamic-aware State Representation for Deformable Object Control with Differentiable Simulator
Published in IEEE RA-L, 2022
Using differentiable physics engine to learn low dimension state representation of deformable object.
Recommended citation: S. Chen,Y. Liu, S. Yao, J. Li, T. Fan, J. Pan. (2022). "DiffSRL: Learning Dynamical State Representation for Deformable Object Manipulation with Differentiable Simulator. " IEEE-RAL. https://arxiv.org/abs/2110.12352
Real-time Model Predictive Control and System Identification Using Differentiable Physics Simulation
Published in IEEE RA-L, 2022
Proposing a framework that can planning control steps in real time and adapt to parameter changes under observation and action noise.
Recommended citation: S. Chen, K. Werling, C.K Liu. (2022). "Real-time Model Predictive Control and System Identification Using Differentiable Physics Simulation. " IEEE-RAL. https://arxiv.org/abs/2202.09834
CEP3: Community Event Prediction with Neural Point Process on Graph
Published in Learning on Graph, 2022
Jointly predicting event type as well as event time on continuous dynamic graph of community.
Recommended citation: X. Wang,S. Chen, Y. He, M. Wang, Q. Gan, J. Yan, Y. Yang. (2022). "CEP3: Community Event Prediction with Neural Point Process on Graph. " LoG 2022. https://openreview.net/forum?id=sfc0rjCBqS_
Synthesize Dexterous Nonprehensile Pregrasp for Ungraspable Objects
Published in SIGGRAPH Conference proceedings, 2023
A framework for dexterous nonprehensile pregrasp manipulation for initially occluded ungraspable objects
Recommended citation: S. Chen, A. Wu, C.K Liu. (2023). "Synthesize Dexterous Nonprehensile Pregrasp for Ungraspable Objects. " SIGGRAPH. https://arxiv.org/abs/2305.04654
SpringGrasp: Synthesizing Compliant, Dexterous Grasps under Shape Uncertainty
Published in Robotics: Science and Systems, 2024
Dexterous precision grasp planning for shape uncertain objects
Recommended citation: S. Chen, J. Bohg, C.K Liu. (2024). "SpringGrasp: Synthesizing Compliant, Dexterous Grasps under Shape Uncertainty. " RSS. https://arxiv.org/abs/2404.13532
One-Shot Transfer of Long-Horizon Extrinsic Manipulation Through Contact Retargeting
Published in IEEE/RSJ International Conference on Intelligent Robots and Systems (Oral), 2024
Learning extrinsic manipulation from single demonstration
Recommended citation: A. Wu, R. Wang, S. Chen, C. Eppner, C.K Liu. (2024). "One-Shot Transfer of Long-Horizon Extrinsic Manipulation Through Contact Retargeting. " IROS. https://arxiv.org/abs/2404.07468
talks
Representing deformable object using differentiable physics simulator
Published:
This is a talk at HKU Robotics Lab group meeting, it covers my recent project using differentiable physics engine to represent complex deformable object.
Realtime Model Predictive Control and System Identification with Differentiable Physics Simulation
Published:
Oral presentation of paper Realtime Model Predictive Control and System Identification with Differentiable Physics Simulation at ICRA 2023
SpringGrasp: Synthesizing Compliant, Dexterous Grasps under Shape Uncertainty
Published:
Oral presentation of paper SpringGrasp: ynthesizing Compliant, Dexterous Grasps under Shape Uncertainty at RSS 2024
teaching
Student TA for ENGG 1330
Undergraduate course, University of Hong Kong, Department of Computer Science, 2019
Serving as student tutor for ENGG 1330, python programming introductory course. Teaching freshment how to solve Python based programming problem hand by hand. Delivering short review regarding course content.