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
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
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
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_
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
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