Richard Cheng

46 papers A* 6A 8B 1C 1Misc 2Journal 20Unranked 8
YearRankTypeTitle / Venue / Authors
2025 J jnl
A Direct Semi-Exhaustive Search Method for Robust, Partial-to-Full Point Cloud Registration.
CoRR
Richard Cheng, Chavdar Papozov, Daniel M. Helmick, Mark Tjersland
2025 — conf
Dual Arm Whole Body Motion Planning: Leveraging Overlapping Kinematic Chains.
Humanoids
Richard Cheng, Peter Werner, Carolyn Matl
2025 J jnl
Dual-Arm Whole-Body Motion Planning: Leveraging Overlapping Kinematic Chains.
CoRR
Richard Cheng, Peter Werner, Carolyn Matl
2025 A* conf
Persistent Object Gaussian Splat (POGS) for Tracking Human and Robot Manipulation of Irregularly Shaped Objects.
ICRA
Justin Yu, Kush Hari, Karim El-Refai, Arnav Dalal, Justin Kerr, Chung Min Kim, Richard Cheng, Muhammad Zubair Irshad, Ken Goldberg
2025 J jnl
Persistent Object Gaussian Splat (POGS) for Tracking Human and Robot Manipulation of Irregularly Shaped Objects.
CoRR
Justin Yu, Kush Hari, Karim El-Refai, Arnav Dalal, Justin Kerr, Chung Min Kim, Richard Cheng, Muhammad Zubair Irshad, Ken Goldberg
2025 J jnl
Practical Insights on Grasp Strategies for Mobile Manipulation in the Wild.
CoRR
Isabella Huang, Richard Cheng, Sangwoon Kim, Dan Kruse, Carolyn Matl, Lukas Kaul, JC Hancock, Shanmuga Harikumar, Mark Tjersland, James Borders, Daniel M. Helmick
2025 J jnl
Real2Render2Real: Scaling Robot Data Without Dynamics Simulation or Robot Hardware.
CoRR
Justin Yu, Letian Fu, Huang Huang, Karim El-Refai, Rares Andrei Ambrus, Richard Cheng, Muhammad Zubair Irshad, Ken Goldberg
2025 J jnl
Superfast Configuration-Space Convex Set Computation on GPUs for Online Motion Planning.
CoRR
Peter Werner, Richard Cheng, Tom Stewart, Russ Tedrake, Daniela Rus
2024 A conf
A Direct Semi-Exhaustive Search Method for Robust, Partial-to-Full Point Cloud Registration.
IROS
Richard Cheng, Chavdar Papazov, Daniel M. Helmick, Mark Tjersland
2024 J jnl
Demonstrating Mobile Manipulation in the Wild: A Metrics-Driven Approach.
CoRR
Max Bajracharya, James Borders, Richard Cheng, Daniel M. Helmick, Lukas Kaul, Dan Kruse, John Leichty, Jeremy Ma, Carolyn Matl, Frank Michel, Chavdar Papazov, Josh Petersen, Krishna Shankar, Mark Tjersland
2024 A conf
Language-Embedded Gaussian Splats (LEGS): Incrementally Building Room-Scale Representations with a Mobile Robot.
IROS
Justin Yu, Kush Hari, Kishore Srinivas, Karim El-Refai, Adam Rashid, Chung Min Kim, Justin Kerr, Richard Cheng, Muhammad Zubair Irshad, Ashwin Balakrishna, Thomas Kollar, Ken Goldberg
2024 J jnl
Language-Embedded Gaussian Splats (LEGS): Incrementally Building Room-Scale Representations with a Mobile Robot.
CoRR
Justin Yu, Kush Hari, Kishore Srinivas, Karim El-Refai, Adam Rashid, Chung Min Kim, Justin Kerr, Richard Cheng, Muhammad Zubair Irshad, Ashwin Balakrishna, Thomas Kollar, Ken Goldberg
2024 A conf
MANIP: A Modular Architecture for Integrating Interactive Perception for Robot Manipulation.
IROS
Justin Yu, Tara Sadjadpour, Abby O'Neill, Mehdi Khfifi, Lawrence Yunliang Chen, Richard Cheng, Muhammad Zubair Irshad, Ashwin Balakrishna, Thomas Kollar, Ken Goldberg
2024 Misc conf
RoVi-Aug: Robot and Viewpoint Augmentation for Cross-Embodiment Robot Learning.
CoRL
Lawrence Yunliang Chen, Chenfeng Xu, Karthik Dharmarajan, Richard Cheng, Kurt Keutzer, Masayoshi Tomizuka, Quan Vuong, Ken Goldberg
2024 J jnl
RoVi-Aug: Robot and Viewpoint Augmentation for Cross-Embodiment Robot Learning.
CoRR
Lawrence Yunliang Chen, Chenfeng Xu, Karthik Dharmarajan, Muhammad Zubair Irshad, Richard Cheng, Kurt Keutzer, Masayoshi Tomizuka, Quan Vuong, Ken Goldberg
2023 A* conf
AutoBag: Learning to Open Plastic Bags and Insert Objects.
ICRA
Lawrence Yunliang Chen, Baiyu Shi, Daniel Seita, Richard Cheng, Thomas Kollar, David Held, Ken Goldberg
2023 A conf
Bagging by Learning to Singulate Layers Using Interactive Perception.
IROS
Lawrence Yunliang Chen, Baiyu Shi, Roy Lin, Daniel Seita, Ayah Ahmad, Richard Cheng, Thomas Kollar, David Held, Ken Goldberg
2023 J jnl
Bagging by Learning to Singulate Layers Using Interactive Perception.
CoRR
Lawrence Yunliang Chen, Baiyu Shi, Roy Lin, Daniel Seita, Ayah Ahmad, Richard Cheng, Thomas Kollar, David Held, Ken Goldberg
2023 — conf
Demonstrating Mobile Manipulation in the Wild: A Metrics-Driven Approach.
Robotics: Science and Systems
Max Bajracharya, James Borders, Richard Cheng, Daniel M. Helmick, Lukas Kaul, Dan Kruse, John Leichty, Jeremy Ma, Carolyn Matl, Frank Michel, Chavdar Papazov, Josh Petersen, Krishna Shankar, Mark Tjersland
2023 Misc conf
HANDLOOM: Learned Tracing of One-Dimensional Objects for Inspection and Manipulation.
CoRL
Vainavi Viswanath, Kaushik Shivakumar, Mallika Parulekar, Jainil Ajmera, Justin Kerr, Jeffrey Ichnowski, Richard Cheng, Thomas Kollar, Ken Goldberg
2023 J jnl
Learning to Trace and Untangle Semi-planar Knots (TUSK).
CoRR
Vainavi Viswanath, Kaushik Shivakumar, Jainil Ajmera, Mallika Parulekar, Justin Kerr, Jeffrey Ichnowski, Richard Cheng, Thomas Kollar, Ken Goldberg
2023 — conf
Motion Planning to Cartesian Targets Leveraging Large-Scale Dynamic Roadmaps.
CASE
Richard Cheng, Josh Petersen, James Borders, Daniel M. Helmick, Lukas Kaul, Dan Kruse, John Leichty, Carolyn Matl, Chavdar Papazov, Krishna Shankar, Mark Tjersland
2023 A* conf
SGTM 2.0: Autonomously Untangling Long Cables using Interactive Perception.
ICRA
Kaushik Shivakumar, Vainavi Viswanath, Anrui Gu, Yahav Avigal, Justin Kerr, Jeffrey Ichnowski, Richard Cheng, Thomas Kollar, Ken Goldberg
2023 J jnl
The Teenager's Problem: Efficient Garment Decluttering With Grasp Optimization.
CoRR
Aviv Adler, Ayah Ahmad, Shengyin Wang, Wisdom C. Agboh, Edith LLontop, Tianshuang Qiu, Jeffrey Ichnowski, Mehmet Remzi Dogar, Thomas Kollar, Richard Cheng, Ken Goldberg
2022 J jnl
AutoBag: Learning to Open Plastic Bags and Insert Objects.
CoRR
Lawrence Yunliang Chen, Baiyu Shi, Daniel Seita, Richard Cheng, Thomas Kollar, David Held, Ken Goldberg
2022 C conf
Efficiently Learning Single-Arm Fling Motions to Smooth Garments.
ISRR
Lawrence Yunliang Chen, Huang Huang, Ellen R. Novoseller, Daniel Seita, Jeffrey Ichnowski, Michael Laskey, Richard Cheng, Thomas Kollar, Ken Goldberg
2022 J jnl
Efficiently Learning Single-Arm Fling Motions to Smooth Garments.
CoRR
Lawrence Yunliang Chen, Huang Huang, Ellen R. Novoseller, Daniel Seita, Jeffrey Ichnowski, Michael Laskey, Richard Cheng, Thomas Kollar, Ken Goldberg
2022 J jnl
SGTM 2.0: Autonomously Untangling Long Cables using Interactive Perception.
CoRR
Kaushik Shivakumar, Vainavi Viswanath, Anrui Gu, Yahav Avigal, Justin Kerr, Jeffrey Ichnowski, Richard Cheng, Thomas Kollar, Ken Goldberg
2021 A* conf
Limits of Probabilistic Safety Guarantees when Considering Human Uncertainty.
ICRA
Richard Cheng, Richard M. Murray, Joel W. Burdick
2021 J jnl
Limits of Probabilistic Safety Guarantees when Considering Human Uncertainty.
CoRR
Richard Cheng, Richard M. Murray, Joel W. Burdick
2020 A conf
Human Preference-Based Learning for High-dimensional Optimization of Exoskeleton Walking Gaits.
IROS
Maegan Tucker, Myra Cheng, Ellen R. Novoseller, Richard Cheng, Yisong Yue, Joel W. Burdick, Aaron D. Ames
2020 J jnl
Human Preference-Based Learning for High-dimensional Optimization of Exoskeleton Walking Gaits.
CoRR
Maegan Tucker, Myra Cheng, Ellen R. Novoseller, Richard Cheng, Yisong Yue, Joel W. Burdick, Aaron D. Ames
2020 A conf
Learning an Optimal Sampling Distribution for Efficient Motion Planning.
IROS
Richard Cheng, Krishna Shankar, Joel W. Burdick
2020 — conf
Safe Multi-Agent Interaction through Robust Control Barrier Functions with Learned Uncertainties.
CDC
Richard Cheng, Mohammad Javad Khojasteh, Aaron D. Ames, Joel W. Burdick
2020 J jnl
Safe Multi-Agent Interaction through Robust Control Barrier Functions with Learned Uncertainties.
CoRR
Richard Cheng, Mohammad Javad Khojasteh, Aaron D. Ames, Joel W. Burdick
2019 A* conf
Control Regularization for Reduced Variance Reinforcement Learning.
ICML
Richard Cheng, Abhinav Verma, Gábor Orosz, Swarat Chaudhuri, Yisong Yue, Joel Burdick
2019 J jnl
Control Regularization for Reduced Variance Reinforcement Learning.
CoRR
Richard Cheng, Abhinav Verma, Gábor Orosz, Swarat Chaudhuri, Yisong Yue, Joel W. Burdick
2019 A* conf
End-to-End Safe Reinforcement Learning through Barrier Functions for Safety-Critical Continuous Control Tasks.
AAAI
Richard Cheng, Gábor Orosz, Richard M. Murray, Joel W. Burdick
2019 J jnl
End-to-End Safe Reinforcement Learning through Barrier Functions for Safety-Critical Continuous Control Tasks.
CoRR
Richard Cheng, Gábor Orosz, Richard M. Murray, Joel W. Burdick
2018 — conf
Extraction of Muscle Synergies in Spinal Cord Injured Patients.
EMBC
Richard Cheng, Joel W. Burdick
2018 A conf
On Muscle Activation for Improving Robotic Rehabilitation after Spinal Cord Injury.
IROS
Richard Cheng, Yanan Sui, Dimitry Sayenko, Joel W. Burdick
2015 A conf
Wind disturbance rejection for an insect-scale flapping-wing robot.
IROS
Pakpong Chirarattananon, Kevin Y. Ma, Richard Cheng, Robert J. Wood
1996 B conf
Intelligent Guide: Combining User Knowledge Assessment with Pedagogical Guidance.
Intelligent Tutoring Systems
Ramzan Khuwaja, Michel C. Desmarais, Richard Cheng
1976 — conf
A diversified undergraduate computer science program.
SIGCSE-SIGCUE
Richard Cheng
1976 — conf
On-line large screen display system for computer instruction.
SIGCSE-SIGCUE
Richard Cheng
1975 — conf
EDP management personnel education.
SIGCPR
Richard Cheng, Ivan M. Rosenberg