Publications

VLK: Learning Humanoid Loco-Manipulation from Synthetic Interactions in Reconstructed Scenes

Published in Conference on Robot Learning, 2026

Learning perception-based humanoid loco-manipulation from synthetic vision-language-kinematics data

Recommended citation: Y. Wang, J. Li, S. Chen, T. Truong, P. Xu, P. Abbeel, R. Duan, K. Sreenath, A. Kanazawa, C. Sferrazza, G. Shi, C.K. Liu. (2026). "VLK: Learning Humanoid Loco-Manipulation from Synthetic Interactions in Reconstructed Scenes." CoRL. https://arxiv.org/abs/2606.30645

CHIP: Adaptive Compliance for Humanoid Control through Hindsight Perturbation

Published in Conference on Robot Learning, 2026

A plug-and-play module for controllable humanoid end-effector compliance

Recommended citation: S. Chen, Z. Cao, Z. Luo, F. Castaneda, C. Li, T. Wang, Y. Yuan, L. Fan, C.K. Liu, Y. Zhu. (2026). "CHIP: Adaptive Compliance for Humanoid Control through Hindsight Perturbation." CoRL. https://arxiv.org/abs/2512.14689

SONIC: Supersizing Motion Tracking for Natural Humanoid Whole-Body Control

Published in Science Robotics, 2026

Scaling up humanoid robot control via motion tracking

Recommended citation: Z. Luo, Y. Yuan, T. Wang, C. Li, S. Chen, F. Castaneda, Z. Cao, X. Da, etc. (2026). "SONIC: Supersizing Motion Tracking for Natural Humanoid Whole-Body Control." Science Robotics. https://arxiv.org/abs/2511.07820

SceneBot: Contact-Prompted General Humanoid Whole Body Tracking with Scene-Interaction

Published in Arxiv, 2026

A unified contact-conditioned humanoid tracker for free-space motion, terrain, and object interaction

Recommended citation: S. Chen, S. Zhao, Z. Wu, J. Li, G. Shi, C.K. Liu. (2026). "SceneBot: Contact-Prompted General Humanoid Whole Body Tracking with Scene-Interaction." Arxiv. https://arxiv.org/abs/2606.27581

Hand-Eye Autonomous Delivery: Learning Humanoid Navigation, Locomotion and Reaching

Published in Conference on Robot Learning, 2025

Scaling up robot datat collection with high quality human data

Recommended citation: S. Chen, Y. Ye, Z. Cao, J. Lew, P. Xu, C.K. Liu. (2025). &quotHand-Eye Autonomous Delivery: Learning Humanoid Navigation, Locomotion and Reaching. " CoRL. https://arxiv.org/abs/2508.03068

GeoDEx: A Unified Geometric Framework for Tactile Dexterous and Extrinsic Manipulation under Force Uncertainty

Published in Robotics: Science and Systems, 2025

Dexterous grasping and extrinsic manipulation under force uncertainty

Recommended citation: S. Chen, S. Marinovic, S. Iba, R. S. Zarrin. (2025). &quot GeoDEx: A Unified Geometric Framework for Tactile Dexterous and Extrinsic Manipulation under Force Uncertainty. " RSS. https://arxiv.org/abs/2505.00647

ARCap: Collecting High-quality Human Demonstrations for Robot Learning with Augmented Reality Feedback

Published in IEEE International Conference on Robotics and Automation, 2025

Scaling up robot datat collection with high quality human data

Recommended citation: S. Chen, C. Wang, K, Nguyen, L, Fei-Fei, C.K Liu. (2025). &quotARCap: Collecting High-quality Human Demonstrations for Robot Learning with Augmented Reality Feedback. " ICRA. https://arxiv.org/abs/2410.08464

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

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

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

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_

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

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

Chen Sirui Eric

Publications