Jacky Liang

46 papers A* 12A 3Misc 4Journal 21Unranked 5
YearRankTypeTitle / Venue / Authors
2026 J jnl
BPP: Long-Context Robot Imitation Learning by Focusing on Key History Frames.
CoRR
Max Sobol Mark, Jacky Liang, Maria Attarian, Chuyuan Fu, Debidatta Dwibedi, Dhruv Shah, Aviral Kumar
2026 J jnl
The Novelty Bottleneck: A Framework for Understanding Human Effort Scaling in AI-Assisted Work.
CoRR
Jacky Liang
2025 A* conf
Chain-of-Modality: Learning Manipulation Programs from Multimodal Human Videos with Vision-Language-Models.
ICRA
Chen Wang, Fei Xia, Wenhao Yu, Tingnan Zhang, Ruohan Zhang, C. Karen Liu, Li Fei-Fei, Jie Tan, Jacky Liang
2025 J jnl
Chain-of-Modality: Learning Manipulation Programs from Multimodal Human Videos with Vision-Language-Models.
CoRR
Chen Wang, Fei Xia, Wenhao Yu, Tingnan Zhang, Ruohan Zhang, C. Karen Liu, Li Fei-Fei, Jie Tan, Jacky Liang
2025 A* conf
Vision Language Models are In-Context Value Learners.
ICLR
Yecheng Jason Ma, Joey Hejna, Chuyuan Fu, Dhruv Shah, Jacky Liang, Zhuo Xu, Sean Kirmani, Peng Xu, Danny Driess, Ted Xiao, Osbert Bastani, Dinesh Jayaraman, Wenhao Yu, Tingnan Zhang, Dorsa Sadigh, Fei Xia
2024 A* conf
Chain of Code: Reasoning with a Language Model-Augmented Code Emulator.
ICML
Chengshu Li, Jacky Liang, Andy Zeng, Xinyun Chen, Karol Hausman, Dorsa Sadigh, Sergey Levine, Li Fei-Fei, Fei Xia, Brian Ichter
2024 A* conf
How to Prompt Your Robot: A PromptBook for Manipulation Skills with Code as Policies.
ICRA
Montserrat Gonzalez Arenas, Ted Xiao, Sumeet Singh, Vidhi Jain, Allen Z. Ren, Quan Vuong, Jake Varley, Alexander Herzog, Isabel Leal, Sean Kirmani, Mario Prats, Dorsa Sadigh, Vikas Sindhwani, Kanishka Rao, Jacky Liang, Andy Zeng
2024 — conf
Learning to Learn Faster from Human Feedback with Language Model Predictive Control.
Robotics: Science and Systems
Jacky Liang, Fei Xia, Wenhao Yu, Andy Zeng, Maria Attarian, Maria Bauzá Villalonga, Matthew Bennice, Alex Bewley, Adil Dostmohamed, Chuyuan Fu, Nimrod Gileadi, Marissa Giustina, Keerthana Gopalakrishnan, Leonard Hasenclever, Jan Humplik, Jasmine Hsu, Nikhil J. Joshi, Ben Jyenis, J. Chase Kew, Sean Kirmani, Tsang-Wei Edward Lee, Kuang-Huei Lee, Assaf Hurwitz Michaely, Joss Moore, Kenneth Oslund, Dushyant Rao, Allen Z. Ren, Baruch Tabanpour, Quan Vuong, Ayzaan Wahid, Ted Xiao, Ying Xu, Vincent Zhuang, Peng Xu, Erik Frey, Ken Caluwaerts, Tingnan Zhang, Brian Ichter, Jonathan Tompson, Leila Takayama, Vincent Vanhoucke, Izhak Shafran, Maja J. Mataric, Dorsa Sadigh, Nicolas Heess, Kanishka Rao, Nik Stewart, Jie Tan, Carolina Parada
2024 J jnl
Learning to Learn Faster from Human Feedback with Language Model Predictive Control.
CoRR
Jacky Liang, Fei Xia, Wenhao Yu, Andy Zeng, Montserrat Gonzalez Arenas, Maria Attarian, Maria Bauzá, Matthew Bennice, Alex Bewley, Adil Dostmohamed, Chuyuan Kelly Fu, Nimrod Gileadi, Marissa Giustina, Keerthana Gopalakrishnan, Leonard Hasenclever, Jan Humplik, Jasmine Hsu, Nikhil J. Joshi, Ben Jyenis, J. Chase Kew, Sean Kirmani, Tsang-Wei Edward Lee, Kuang-Huei Lee, Assaf Hurwitz Michaely, Joss Moore, Ken Oslund, Dushyant Rao, Allen Z. Ren, Baruch Tabanpour, Quan Vuong, Ayzaan Wahid, Ted Xiao, Ying Xu, Vincent Zhuang, Peng Xu, Erik Frey, Ken Caluwaerts, Tingnan Zhang, Brian Ichter, Jonathan Tompson, Leila Takayama, Vincent Vanhoucke, Izhak Shafran, Maja J. Mataric, Dorsa Sadigh, Nicolas Heess, Kanishka Rao, Nik Stewart, Jie Tan, Carolina Parada
2024 A* conf
Open X-Embodiment: Robotic Learning Datasets and RT-X Models : Open X-Embodiment Collaboration.
ICRA
Abby O'Neill, Abdul Rehman, Abhiram Maddukuri, Abhishek Gupta, Abhishek Padalkar, Abraham Lee, Acorn Pooley, Agrim Gupta, Ajay Mandlekar, Ajinkya Jain, Albert Tung, Alex Bewley, Alexander Herzog, Alex Irpan, Alexander Khazatsky, Anant Rai, Anchit Gupta, Andrew E. Wang, Anikait Singh, Animesh Garg, Aniruddha Kembhavi, Annie Xie, Anthony Brohan, Antonin Raffin, Archit Sharma, Arefeh Yavary, Arhan Jain, Ashwin Balakrishna, Ayzaan Wahid, Ben Burgess-Limerick, Beomjoon Kim, Bernhard Schölkopf, Blake Wulfe, Brian Ichter, Cewu Lu, Charles Xu, Charlotte Le, Chelsea Finn, Chen Wang, Chenfeng Xu, Cheng Chi, Chenguang Huang, Christine Chan, Christopher Agia, Chuer Pan, Chuyuan Fu, Coline Devin, Danfei Xu, Daniel Morton, Danny Driess, Daphne Chen, Deepak Pathak, Dhruv Shah, Dieter Büchler, Dinesh Jayaraman, Dmitry Kalashnikov, Dorsa Sadigh, Edward Johns, Ethan Paul Foster, Fangchen Liu, Federico Ceola, Fei Xia, Feiyu Zhao, Freek Stulp, Gaoyue Zhou, Gaurav S. Sukhatme, Gautam Salhotra, Ge Yan, Gilbert Feng, Giulio Schiavi, Glen Berseth, Gregory Kahn, Guanzhi Wang, Hao Su, Haoshu Fang, Haochen Shi, Henghui Bao, Heni Ben Amor, Henrik I. Christensen, Hiroki Furuta, Homer Walke, Hongjie Fang, Huy Ha, Igor Mordatch, Ilija Radosavovic, Isabel Leal, Jacky Liang, Jad Abou-Chakra, Jaehyung Kim, Jaimyn Drake, Jan Peters, Jan Schneider, Jasmine Hsu, Jeannette Bohg, Jeffrey T. Bingham, Jeffrey Wu, Jensen Gao, Jiaheng Hu, Jiajun Wu, Jialin Wu, Jiankai Sun, Jianlan Luo, Jiayuan Gu, Jie Tan, Jihoon Oh, Jimmy Wu, Jingpei Lu, Jingyun Yang, Jitendra Malik, João Silvério, Joey Hejna, Jonathan Booher, Jonathan Tompson, Jonathan Yang, Jordi Salvador, Joseph J. Lim, Junhyek Han, Kaiyuan Wang, Kanishka Rao, Karl Pertsch, Karol Hausman, Keegan Go, Keerthana Gopalakrishnan, Ken Goldberg, Kendra Byrne, Kenneth Oslund, Kento Kawaharazuka, Kevin Black, Kevin Lin, Kevin Zhang, Kiana Ehsani, Kiran Lekkala, Kirsty Ellis, Krishan Rana, Krishnan Srinivasan, Kuan Fang, Kunal Pratap Singh, Kuo-Hao Zeng, Kyle Hatch, Kyle Hsu, Laurent Itti, Lawrence Yunliang Chen, Lerrel Pinto, Li Fei-Fei, Liam Tan, Linxi Jim Fan, Lionel Ott, Lisa Lee, Luca Weihs, Magnum Chen, Marion Lepert, Marius Memmel, Masayoshi Tomizuka, Masha Itkina, Mateo Guaman Castro, Max Spero, Maximilian Du, Michael Ahn, Michael C. Yip, Mingtong Zhang, Mingyu Ding, Minho Heo, Mohan Kumar Srirama, Mohit Sharma, Moo Jin Kim, Naoaki Kanazawa, Nicklas Hansen, Nicolas Heess, Nikhil J. Joshi, Niko Sünderhauf, Ning Liu, Norman Di Palo, Nur Muhammad (Mahi) Shafiullah, Oier Mees, Oliver Kroemer, Osbert Bastani, Pannag R. Sanketi, Patrick Tree Miller, Patrick Yin, Paul Wohlhart, Peng Xu, Peter David Fagan, Peter Mitrano, Pierre Sermanet, Pieter Abbeel, Priya Sundaresan, Qiuyu Chen, Quan Vuong, Rafael Rafailov, Ran Tian, Ria Doshi, Roberto Martín-Martín, Rohan Baijal, Rosario Scalise, Rose Hendrix, Roy Lin, Runjia Qian, Ruohan Zhang, Russell Mendonca, Rutav Shah, Ryan Hoque, Ryan Julian, Samuel Bustamante-Gomez, Sean Kirmani, Sergey Levine, Shan Lin, Sherry Moore, Shikhar Bahl, Shivin Dass, Shubham D. Sonawani, Shuran Song, Sichun Xu, Siddhant Haldar, Siddharth Karamcheti, Simeon Adebola, Simon Guist, Soroush Nasiriany, Stefan Schaal, Stefan Welker, Stephen Tian, Subramanian Ramamoorthy, Sudeep Dasari, Suneel Belkhale, Sungjae Park, Suraj Nair, Suvir Mirchandani, Takayuki Osa, Tanmay Gupta, Tatsuya Harada, Tatsuya Matsushima, Ted Xiao, Thomas Kollar, Tianhe Yu, Tianli Ding, Todor Davchev, Tony Z. Zhao, Travis Armstrong, Trevor Darrell, Trinity Chung, Vidhi Jain, Vincent Vanhoucke, Wei Zhan, Wenxuan Zhou, Wolfram Burgard, Xi Chen, Xiaolong Wang, Xinghao Zhu, Xinyang Geng, Xiyuan Liu, Liangwei Xu, Xuanlin Li, Yao Lu, Yecheng Jason Ma, Yejin Kim, Yevgen Chebotar, Yifan Zhou, Yifeng Zhu, Yilin Wu, Ying Xu, Yixuan Wang, Yonatan Bisk, Yoonyoung Cho, Youngwoon Lee, Yuchen Cui, Yue Cao, Yueh-Hua Wu, Yujin Tang, Yuke Zhu, Yunchu Zhang, Yunfan Jiang, Yunshuang Li, Yunzhu Li, Yusuke Iwasawa, Yutaka Matsuo, Zehan Ma, Zhuo Xu, Zichen Jeff Cui, Zichen Zhang, Zipeng Lin
2024 A* conf
PIVOT: Iterative Visual Prompting Elicits Actionable Knowledge for VLMs.
ICML
Soroush Nasiriany, Fei Xia, Wenhao Yu, Ted Xiao, Jacky Liang, Ishita Dasgupta, Annie Xie, Danny Driess, Ayzaan Wahid, Zhuo Xu, Quan Vuong, Tingnan Zhang, Tsang-Wei Edward Lee, Kuang-Huei Lee, Peng Xu, Sean Kirmani, Yuke Zhu, Andy Zeng, Karol Hausman, Nicolas Heess, Chelsea Finn, Sergey Levine, Brian Ichter
2024 J jnl
PIVOT: Iterative Visual Prompting Elicits Actionable Knowledge for VLMs.
CoRR
Soroush Nasiriany, Fei Xia, Wenhao Yu, Ted Xiao, Jacky Liang, Ishita Dasgupta, Annie Xie, Danny Driess, Ayzaan Wahid, Zhuo Xu, Quan Vuong, Tingnan Zhang, Tsang-Wei Edward Lee, Kuang-Huei Lee, Peng Xu, Sean Kirmani, Yuke Zhu, Andy Zeng, Karol Hausman, Nicolas Heess, Chelsea Finn, Sergey Levine, Brian Ichter
2024 J jnl
Vision Language Models are In-Context Value Learners.
CoRR
Yecheng Jason Ma, Joey Hejna, Ayzaan Wahid, Chuyuan Fu, Dhruv Shah, Jacky Liang, Zhuo Xu, Sean Kirmani, Peng Xu, Danny Driess, Ted Xiao, Jonathan Tompson, Osbert Bastani, Dinesh Jayaraman, Wenhao Yu, Tingnan Zhang, Dorsa Sadigh, Fei Xia
2023 J jnl
Chain of Code: Reasoning with a Language Model-Augmented Code Emulator.
CoRR
Chengshu Li, Jacky Liang, Andy Zeng, Xinyun Chen, Karol Hausman, Dorsa Sadigh, Sergey Levine, Li Fei-Fei, Fei Xia, Brian Ichter
2023 A* conf
Code as Policies: Language Model Programs for Embodied Control.
ICRA
Jacky Liang, Wenlong Huang, Fei Xia, Peng Xu, Karol Hausman, Brian Ichter, Pete Florence, Andy Zeng
2023 — —
Learning with Structured Priors for Robust Robot Manipulation
Jacky Liang
2022 J jnl
Code as Policies: Language Model Programs for Embodied Control.
CoRR
Jacky Liang, Wenlong Huang, Fei Xia, Peng Xu, Karol Hausman, Brian Ichter, Pete Florence, Andy Zeng
2022 Misc conf
Inner Monologue: Embodied Reasoning through Planning with Language Models.
CoRL
Wenlong Huang, Fei Xia, Ted Xiao, Harris Chan, Jacky Liang, Pete Florence, Andy Zeng, Jonathan Tompson, Igor Mordatch, Yevgen Chebotar, Pierre Sermanet, Tomas Jackson, Noah Brown, Linda Luu, Sergey Levine, Karol Hausman, Brian Ichter
2022 J jnl
Inner Monologue: Embodied Reasoning through Planning with Language Models.
CoRR
Wenlong Huang, Fei Xia, Ted Xiao, Harris Chan, Jacky Liang, Pete Florence, Andy Zeng, Jonathan Tompson, Igor Mordatch, Yevgen Chebotar, Pierre Sermanet, Noah Brown, Tomas Jackson, Linda Luu, Sergey Levine, Karol Hausman, Brian Ichter
2022 Misc conf
Learning Preconditions of Hybrid Force-Velocity Controllers for Contact-Rich Manipulation.
CoRL
Jacky Liang, Xianyi Cheng, Oliver Kroemer
2022 J jnl
Learning Preconditions of Hybrid Force-Velocity Controllers for Contact-Rich Manipulation.
CoRR
Jacky Liang, Xianyi Cheng, Oliver Kroemer
2022 A* conf
Search-Based Task Planning with Learned Skill Effect Models for Lifelong Robotic Manipulation.
ICRA
Jacky Liang, Mohit Sharma, Alex LaGrassa, Shivam Vats, Saumya Saxena, Oliver Kroemer
2021 A* conf
Contact Localization for Robot Arms in Motion without Torque Sensing.
ICRA
Jacky Liang, Oliver Kroemer
2021 J jnl
Search-Based Task Planning with Learned Skill Effect Models for Lifelong Robotic Manipulation.
CoRR
Jacky Liang, Mohit Sharma, Alex LaGrassa, Shivam Vats, Saumya Saxena, Oliver Kroemer
2021 A conf
Visual Identification of Articulated Object Parts.
IROS
Vicky Zeng, Timothy E. Lee, Jacky Liang, Oliver Kroemer
2020 J jnl
A Modular Robotic Arm Control Stack for Research: Franka-Interface and FrankaPy.
CoRR
Kevin Zhang, Mohit Sharma, Jacky Liang, Oliver Kroemer
2020 J jnl
Contact Localization for Robot Arms in Motion without Torque Sensing.
CoRR
Jacky Liang, Oliver Kroemer
2020 A* conf
DexPilot: Vision-Based Teleoperation of Dexterous Robotic Hand-Arm System.
ICRA
Ankur Handa, Karl Van Wyk, Wei Yang, Jacky Liang, Yu-Wei Chao, Qian Wan, Stan Birchfield, Nathan D. Ratliff, Dieter Fox
2020 A* conf
In-Hand Object Pose Tracking via Contact Feedback and GPU-Accelerated Robotic Simulation.
ICRA
Jacky Liang, Ankur Handa, Karl Van Wyk, Viktor Makoviychuk, Oliver Kroemer, Dieter Fox
2020 J jnl
In-Hand Object Pose Tracking via Contact Feedback and GPU-Accelerated Robotic Simulation.
CoRR
Jacky Liang, Ankur Handa, Karl Van Wyk, Viktor Makoviychuk, Oliver Kroemer, Dieter Fox
2020 — conf
Learning Active Task-Oriented Exploration Policies for Bridging the Sim-to-Real Gap.
Robotics: Science and Systems
Jacky Liang, Saumya Saxena, Oliver Kroemer
2020 J jnl
Learning Active Task-Oriented Exploration Policies for Bridging the Sim-to-Real Gap.
CoRR
Jacky Liang, Saumya Saxena, Oliver Kroemer
2020 Misc conf
Learning to Compose Hierarchical Object-Centric Controllers for Robotic Manipulation.
CoRL
Mohit Sharma, Jacky Liang, Jialiang Zhao, Alex LaGrassa, Oliver Kroemer
2020 J jnl
Learning to Compose Hierarchical Object-Centric Controllers for Robotic Manipulation.
CoRR
Mohit Sharma, Jacky Liang, Jialiang Zhao, Alex LaGrassa, Oliver Kroemer
2020 A conf
Undergraduate-Led Survey Class to Improve CS Education for New Students.
SIGCSE
Nathan Zhang, Jacky Liang, Amanda Tomlinson, Frank Boensch, Anant Sahai
2020 J jnl
Visual Identification of Articulated Object Parts.
CoRR
Vicky Zeng, Timothy E. Lee, Jacky Liang, Oliver Kroemer
2019 J jnl
DexPilot: Vision Based Teleoperation of Dexterous Robotic Hand-Arm System.
CoRR
Ankur Handa, Karl Van Wyk, Wei Yang, Jacky Liang, Yu-Wei Chao, Qian Wan, Stan Birchfield, Nathan D. Ratliff, Dieter Fox
2019 A conf
Homography-Based Deep Visual Servoing Methods for Planar Grasps.
IROS
Austin S. Wang, Wuming Zhang, Daniel Troniak, Jacky Liang, Oliver Kroemer
2019 — conf
Toward Precise Robotic Grasping by Probabilistic Post-grasp Displacement Estimation.
FSR
Jialiang Alan Zhao, Jacky Liang, Oliver Kroemer
2019 J jnl
Towards Precise Robotic Grasping by Probabilistic Post-grasp Displacement Estimation.
CoRR
Jialiang Zhao, Jacky Liang, Oliver Kroemer
2018 Misc conf
GPU-Accelerated Robotic Simulation for Distributed Reinforcement Learning.
CoRL
Jacky Liang, Viktor Makoviychuk, Ankur Handa, Nuttapong Chentanez, Miles Macklin, Dieter Fox
2018 J jnl
GPU-Accelerated Robotic Simulation for Distributed Reinforcement Learning.
CoRR
Jacky Liang, Viktor Makoviychuk, Ankur Handa, Nuttapong Chentanez, Miles Macklin, Dieter Fox
2017 A* conf
Design of parallel-jaw gripper tip surfaces for robust grasping.
ICRA
Menglong Guo, David V. Gealy, Jacky Liang, Jeffrey Mahler, Aimee Goncalves, Stephen McKinley, Juan Aparicio Ojea, Ken Goldberg
2017 — conf
Dex-Net 2.0: Deep Learning to Plan Robust Grasps with Synthetic Point Clouds and Analytic Grasp Metrics.
Robotics: Science and Systems
Jeffrey Mahler, Jacky Liang, Sherdil Niyaz, Michael Laskey, Richard Doan, Xinyu Liu, Juan Aparicio Ojea, Ken Goldberg
2017 J jnl
Dex-Net 2.0: Deep Learning to Plan Robust Grasps with Synthetic Point Clouds and Analytic Grasp Metrics.
CoRR
Jeffrey Mahler, Jacky Liang, Sherdil Niyaz, Michael Laskey, Richard Doan, Xinyu Liu, Juan Aparicio Ojea, Ken Goldberg
2017 — conf
Using dVRK teleoperation to facilitate deep learning of automation tasks for an industrial robot.
CASE
Jacky Liang, Jeffrey Mahler, Michael Laskey, Pusong Li, Ken Goldberg