Publications
You can also find my articles on my Google Scholar profile.
* denotes equal contribution
2025
OpenRoboCare: A Multimodal Multi-Task Expert Demonstration Dataset for Robot Caregiving
Xiaoyu Liang*, Ziang Liu*, Kelvin Lin, Edward Gu, Ruolin Ye, Tam Nguyen, Cynthia Hsu, Zhanxin Wu, Xiaoman Yang, Christy Sum Yu Cheung, Harold Soh, Katherine Dimitropoulou, Tapomayukh Bhattacharjee. IROS, 2025.
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Xiaoyu Liang*, Ziang Liu*, Kelvin Lin, Edward Gu, Ruolin Ye, Tam Nguyen, Cynthia Hsu, Zhanxin Wu, Xiaoman Yang, Christy Sum Yu Cheung, Harold Soh, Katherine Dimitropoulou, Tapomayukh Bhattacharjee. IROS, 2025.
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FEAST: A Flexible Mealtime-Assistance System Towards In-the-Wild Personalization
Rajat Kumar Jenamani, Tom Silver, Ben Dodson, Shiqin Tong, Anthony Song, Yuting Yang, Ziang Liu, Benjamin Howe, Aimee Whitneck, Tapomayukh Bhattacharjee. RSS, 2025. Best Paper Award.
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Rajat Kumar Jenamani, Tom Silver, Ben Dodson, Shiqin Tong, Anthony Song, Yuting Yang, Ziang Liu, Benjamin Howe, Aimee Whitneck, Tapomayukh Bhattacharjee. RSS, 2025. Best Paper Award.
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Coloring Between the Lines: Personalization in the Null Space of Planning Constraints
Tom Silver, Rajat Kumar Jenamani, Ziang Liu, Ben Dodson, Tapomayukh Bhattacharjee. In Submission, 2025.
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Tom Silver, Rajat Kumar Jenamani, Ziang Liu, Ben Dodson, Tapomayukh Bhattacharjee. In Submission, 2025.
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GRACE: Generalizing Robot-Assisted Caregiving with User Functionality Embeddings
Ziang Liu, Yuanchen Ju, Yu Da, Tom Silver, Pranav N. Thakkar, Jenna Li, Justin Guo, Katherine Dimitropoulou, Tapomayukh Bhattacharjee. HRI, 2025.
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Ziang Liu, Yuanchen Ju, Yu Da, Tom Silver, Pranav N. Thakkar, Jenna Li, Justin Guo, Katherine Dimitropoulou, Tapomayukh Bhattacharjee. HRI, 2025.
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2024
REPeat: A Real2Sim2Real Approach for Pre-acquisition of Soft Food Items in Robot-Assisted Feeding
Nayoung Ha, Ruolin Ye, Ziang Liu, Shubhangi Sinha, Tapomayukh Bhattacharjee. IROS, 2024.
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Nayoung Ha, Ruolin Ye, Ziang Liu, Shubhangi Sinha, Tapomayukh Bhattacharjee. IROS, 2024.
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Learning to Design 3D Printable Adaptations on Everyday Objects for Robot Manipulation
Michelle Guo, Ziang Liu, Stephen Tian, Zhaoming Xie, Jiajun Wu, Karen Liu. ICRA, 2024.
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Michelle Guo, Ziang Liu, Stephen Tian, Zhaoming Xie, Jiajun Wu, Karen Liu. ICRA, 2024.
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Feel the Bite: Robot-Assisted Inside-Mouth Bite Transfer using Robust Mouth Perception and Physical Interaction-Aware Control
Rajat Kumar Jenamani, Daniel Stabile, Ziang Liu, Abrar Anwar, Katherine Dimitropoulou, Tapomayukh Bhattacharjee. HRI, 2024. Best Paper Award Nomination.
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Rajat Kumar Jenamani, Daniel Stabile, Ziang Liu, Abrar Anwar, Katherine Dimitropoulou, Tapomayukh Bhattacharjee. HRI, 2024. Best Paper Award Nomination.
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An Adaptable, Safe, and Portable Robot-Assisted Feeding System
Ethan K Gordon, Rajat Kumar Jenamani, Amal Nanavati, Ziang Liu, Daniel Stabile, Xilai Dai, Tapomayukh Bhattacharjee, Tyler Schrenk, Jonathan Ko, Haya Bolotski, Raida Karim, Atharva Kashyap, Bernie Hao Zhu, Taylor Kessler Faulkner, Siddhartha S Srinivasa. HRI, 2024. Best Demonstration Award.
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Ethan K Gordon, Rajat Kumar Jenamani, Amal Nanavati, Ziang Liu, Daniel Stabile, Xilai Dai, Tapomayukh Bhattacharjee, Tyler Schrenk, Jonathan Ko, Haya Bolotski, Raida Karim, Atharva Kashyap, Bernie Hao Zhu, Taylor Kessler Faulkner, Siddhartha S Srinivasa. HRI, 2024. Best Demonstration Award.
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2023
Model-Based Control with Sparse Neural Dynamics
Ziang Liu, Genggeng Zhou, Jeff He, Tobia Marcucci, Li Fei-Fei, Jiajun Wu, Yunzhu Li. NeurIPS, 2023.
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Ziang Liu, Genggeng Zhou, Jeff He, Tobia Marcucci, Li Fei-Fei, Jiajun Wu, Yunzhu Li. NeurIPS, 2023.
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Learning to Design and Use Tools for Robotic Manipulation
Ziang Liu*, Stephen Tian*, Michelle Guo, Karen Liu, Jiajun Wu. CoRL, 2023.
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Ziang Liu*, Stephen Tian*, Michelle Guo, Karen Liu, Jiajun Wu. CoRL, 2023.
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Diffusion Co-Policy for Synergistic Human-Robot Collaborative Tasks
Eley Ng, Ziang Liu, Monroe Kennedy III. RA-L, 2023.
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Eley Ng, Ziang Liu, Monroe Kennedy III. RA-L, 2023.
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It Takes Two: Learning to Plan for Human-Robot Cooperative Carrying
Eley Ng, Ziang Liu, Monroe Kennedy III. ICRA, 2023.
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Eley Ng, Ziang Liu, Monroe Kennedy III. ICRA, 2023.
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2022
BEHAVIOR in Habitat 2.0: Simulator-Independent Logical Task Description for Benchmarking Embodied AI Agents
Ziang Liu, Roberto Martín-Martín, Fei Xia, Jiajun Wu, Li Fei-Fei. CVPR Embodied AI Workshop, 2022.
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Ziang Liu, Roberto Martín-Martín, Fei Xia, Jiajun Wu, Li Fei-Fei. CVPR Embodied AI Workshop, 2022.
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Inferring Articulated Rigid Body Dynamics from RGBD Video
Eric Heiden, Ziang Liu, Vibhav Vineet, Erwin Coumans, Gaurav S. Sukhatme. IROS, 2022.
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Eric Heiden, Ziang Liu, Vibhav Vineet, Erwin Coumans, Gaurav S. Sukhatme. IROS, 2022.
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2021
Robotic Lime Picking by Considering Leaves as Permeable Obstacles
Heramb Nemlekar*, Ziang Liu*, Suraj Kothawade, Sherdil Niyaz, Barath Raghavan, Stefanos Nikolaidis. IROS, 2021.
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Heramb Nemlekar*, Ziang Liu*, Suraj Kothawade, Sherdil Niyaz, Barath Raghavan, Stefanos Nikolaidis. IROS, 2021.
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A Hierarchical Approach to Multi-Agent Path Finding
Han Zhang, Mingze Yao, Ziang Liu, Jiaoyang Li, Lucas Terr, Shao-Hung Chan, T.K. Satish Kumar, Sven Koenig. SoCS, 2021.
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Han Zhang, Mingze Yao, Ziang Liu, Jiaoyang Li, Lucas Terr, Shao-Hung Chan, T.K. Satish Kumar, Sven Koenig. SoCS, 2021.
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2020
Physics-based Simulation of Continuous-Wave LIDAR for Localization, Calibration and Tracking
Eric Heiden, Ziang Liu, Ragesh K. Ramachandran, Gaurav S. Sukhatme. ICRA, 2020.
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Eric Heiden, Ziang Liu, Ragesh K. Ramachandran, Gaurav S. Sukhatme. ICRA, 2020.
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