Safe exploration: Addressing various uncertainty levels in human robot interactions. - Changliu Liu; Masayoshi Tomizuka (ACC, 2015)

Enabling safe freeway driving for automated vehicles. - Changliu Liu; Masayoshi Tomizuka (ACC, 2016)

Who to Blame? learning and control strategies with information asymmetry. - Changliu Liu; Wenlong Zhang; Masayoshi Tomizuka (ACC, 2016)

Algorithmic safety measures for intelligent industrial co-robots. - Changliu Liu; Masayoshi Tomizuka (ICRA, 2016)

Robotic manipulation of deformable objects by tangent space mapping and non-rigid registration. - Te Tang; Changliu Liu; Wenjie Chen; Masayoshi Tomizuka (IROS, 2016)

A non-conservatively defensive strategy for urban autonomous driving. - Wei Zhan; Changliu Liu; Ching-Yao Chan; Masayoshi Tomizuka (ITSC, 2016)

Convex feasible set algorithm for constrained trajectory smoothing. - Changliu Liu; Chung-Yen Lin; Yizhou Wang 003; Masayoshi Tomizuka (ACC, 2017)

Real-time collision avoidance algorithm on industrial manipulators. - Hsien-Chung Lin; Changliu Liu; Yongxiang Fan; Masayoshi Tomizuka (CCTA, 2017)

Boundary layer heuristic for search-based nonholonomic path planning in maze-like environments. - Changliu Liu; Yizhou Wang 003; Masayoshi Tomizuka (Intelligent Vehicles Symposium, 2017)

Speed profile planning in dynamic environments via temporal optimization. - Changliu Liu; Wei Zhan; Masayoshi Tomizuka (Intelligent Vehicles Symposium, 2017)

Spatially-partitioned environmental representation and planning architecture for on-road autonomous driving. - Wei Zhan; Jianyu Chen; Ching-Yao Chan; Changliu Liu; Masayoshi Tomizuka (Intelligent Vehicles Symposium, 2017)

Real time trajectory optimization for nonlinear robotic systems: Relaxation and convexification. - Changliu Liu; Masayoshi Tomizuka (Syst. Control. Lett., 2017)

FOAD: Fast Optimization-based Autonomous Driving Motion Planner. - Jianyu Chen; Changliu Liu; Masayoshi Tomizuka (ACC, 2018)

Improving Efficiency of Autonomous Vehicles by V2V Communication. - Changliu Liu; Chung-Wei Lin; Shinichi Shiraishi; Masayoshi Tomizuka (ACC, 2018)

Fast Robot Motion Planning with Collision Avoidance and Temporal Optimization. - Hsien-Chung Lin; Changliu Liu; Masayoshi Tomizuka (ICARCV, 2018)

Analytically Modeling Unmanaged Intersections with Microscopic Vehicle Interactions. - Changliu Liu; Mykel J. Kochenderfer (ITSC, 2018)

Analyzing Traffic Delay at Unmanaged Intersections. - Changliu Liu; Mykel J. Kochenderfer (CoRR, 2018)

Robot Safe Interaction System for Intelligent Industrial Co-Robots. - Changliu Liu; Masayoshi Tomizuka (CoRR, 2018)

SERoCS: Safe and Efficient Robot Collaborative Systems for Next Generation Intelligent Industrial Co-Robots. - Changliu Liu; Te Tang; Hsien-Chung Lin; Yujiao Cheng; Masayoshi Tomizuka (CoRR, 2018)

Human Motion Prediction using Adaptable Neural Networks. - Yujiao Cheng; Weiye Zhao; Changliu Liu; Masayoshi Tomizuka (CoRR, 2018)

The Convex Feasible Set Algorithm for Real Time Optimization in Motion Planning. - Changliu Liu; Chung-Yen Lin; Masayoshi Tomizuka (SIAM J. Control. Optim., 2018)

Distributed Conflict Resolution for Connected Autonomous Vehicles. - Changliu Liu; Chung-Wei Lin; Shinichi Shiraishi; Masayoshi Tomizuka (IEEE Trans. Intell. Veh., 2018)

Human Motion Prediction using Semi-adaptable Neural Networks. - Yujiao Cheng; Weiye Zhao; Changliu Liu; Masayoshi Tomizuka (ACC, 2019)

Safe Control Algorithms Using Energy Functions: A Uni ed Framework, Benchmark, and New Directions. - Tianhao Wei; Changliu Liu (CDC, 2019)

Simulating Emergent Properties of Human Driving Behavior Using Multi-Agent Reward Augmented Imitation Learning. - Raunak P. Bhattacharyya; Derek J. Phillips; Changliu Liu; Jayesh K. Gupta; Katherine Rose Driggs-Campbell; Mykel J. Kochenderfer (ICRA, 2019)

AGen: Adaptable Generative Prediction Networks for Autonomous Driving. - Wenwen Si; Tianhao Wei; Changliu Liu (IV, 2019)

Toward Modularization of Neural Network Autonomous Driving Policy Using Parallel Attribute Networks. - Zhuo Xu; Haonan Chang; Chen Tang 001; Changliu Liu; Masayoshi Tomizuka (IV, 2019)

Algorithms for Verifying Deep Neural Networks. - Changliu Liu; Tomer Arnon; Christopher Lazarus; Clark W. Barrett; Mykel J. Kochenderfer (CoRR, 2019)

Safe Control Algorithms Using Energy Functions: A Unified Framework, Benchmark, and New Directions. - Tianhao Wei; Changliu Liu (CoRR, 2019)

Adaptable Human Intention and Trajectory Prediction for Human-Robot Collaboration. - Abulikemu Abuduweili; Siyan Li; Changliu Liu (CoRR, 2019)

Deadlock Analysis and Resolution in Multi-Robot Systems: The Two Robot Case. - Jaskaran Grover; Changliu Liu; Katia P. Sycara (CoRR, 2019)

Safe Adaptation Using Energy Functions. - Charles Noren; Changliu Liu (CoRR, 2019)

Graph-Based Modeling, Scheduling, and Verification for Intersection Management of Intelligent Vehicles. - Yi-Ting Lin; Hsiang Hsu; Shang-Chien Lin; Chung-Wei Lin; Iris Hui-Ru Jiang; Changliu Liu (ACM Trans. Embed. Comput. Syst., 2019)

Experimental Evaluation of Human Motion Prediction Toward Safe and Efficient Human Robot Collaboration. - Weiye Zhao; Liting Sun; Changliu Liu; Masayoshi Tomizuka (ACC, 2020)

Augmenting GAIL with BC for sample efficient imitation learning. - Rohit Jena; Changliu Liu; Katia P. Sycara (CoRL, 2020)

Tolerance-Guided Policy Learning for Adaptable and Transferrable Delicate Industrial Insertion. - Boshen Niu; Chenxi Wang; Changliu Liu (CoRL, 2020)

A Dynamic Programming Approach to Optimal Lane Merging of Connected and Autonomous Vehicles. - Shang-Chien Lin; Hsiang Hsu; Yi-Ting Lin; Chung-Wei Lin; Iris Hui-Ru Jiang; Changliu Liu (IV, 2020)

Robust Online Model Adaptation by Extended Kalman Filter with Exponential Moving Average and Dynamic Multi-Epoch Strategy. - Abulikemu Abuduweili; Changliu Liu (L4DC, 2020)

A Microscopic Epidemic Model and Pandemic Prediction Using Multi-Agent Reinforcement Learning. - Changliu Liu (CoRR, 2020)

Contact-Rich Trajectory Generation in Confined Environments Using Iterative Convex Optimization. - Weiye Zhao; Suqin He; Chengtao Wen; Changliu Liu (CoRR, 2020)

Parameter Identification for Multirobot Systems Using Optimization Based Controllers (Extended Version). - Jaskaran Singh Grover; Changliu Liu; Katia P. Sycara (CoRR, 2020)

Feasible Region-based Identification Using Duality (Extended Version). - Jaskaran Grover; Changliu Liu; Katia P. Sycara (CoRR, 2020)

Towards Efficient Human-Robot Collaboration With Robust Plan Recognition and Trajectory Prediction. - Yujiao Cheng; Liting Sun; Changliu Liu; Masayoshi Tomizuka (IEEE Robotics Autom. Lett., 2020)

Model-free Safe Control for Zero-Violation Reinforcement Learning. - Weiye Zhao; Tairan He; Changliu Liu (CoRL, 2021)

Flexible MPC-based Conflict Resolution Using Online Adaptive ADMM. - Jerry An; Giulia Giordano; Changliu Liu (ECC, 2021)

Feasible Region-Based System Identification Using Duality. - Jaskaran Grover; Changliu Liu; Katia P. Sycara (ECC, 2021)

Distributed Motion Coordination Using Convex Feasible Set Based Model Predictive Control. - Hongyu Zhou; Changliu Liu (ICRA, 2021)

Parameter Identification for Multirobot Systems Using Optimization-based Controllers. - Jaskaran Grover; Changliu Liu; Katia P. Sycara (MRS, 2021)

Deadlock Analysis and Resolution for Multi-robot Systems. - Jaskaran Singh Grover; Changliu Liu; Katia P. Sycara (WAFR, 2021)

Online Verification of Deep Neural Networks under Domain or Weight Shift. - Tianhao Wei; Changliu Liu (CoRR, 2021)

A Microscopic Pandemic Simulator for Pandemic Prediction Using Scalable Million-Agent Reinforcement Learning. - Zhenggang Tang; Kai Yan; Liting Sun; Wei Zhan; Changliu Liu (CoRR, 2021)

IADA: Iterative Adversarial Data Augmentation Using Formal Verification and Expert Guidance. - Ruixuan Liu; Changliu Liu (CoRR, 2021)

The Second International Verification of Neural Networks Competition (VNN-COMP 2021): Summary and Results. - Stanley Bak; Changliu Liu; Taylor T. Johnson (CoRR, 2021)

Hierarchical Adaptable and Transferable Networks (HATN) for Driving Behavior Prediction. - Letian Wang; Yeping Hu; Liting Sun; Wei Zhan; Masayoshi Tomizuka; Changliu Liu (CoRR, 2021)

Learn Zero-Constraint-Violation Policy in Model-Free Constrained Reinforcement Learning. - Haitong Ma; Changliu Liu; Shengbo Eben Li; Sifa Zheng; Wenchao Sun; Jianyu Chen (CoRR, 2021)

Learn from Human Teams: a Probabilistic Solution to Real-Time Collaborative Robot Handling with Dynamic Gesture Commands. - Rui Chen 030; Alvin Shek; Changliu Liu (CoRR, 2021)

Online Adaptation of Neural Network Models by Modified Extended Kalman Filter for Customizable and Transferable Driving Behavior Prediction. - Letian Wang; Yeping Hu; Changliu Liu (CoRR, 2021)

Human Motion Prediction Using Adaptable Recurrent Neural Networks and Inverse Kinematics. - Ruixuan Liu; Changliu Liu (IEEE Control. Syst. Lett., 2021)

Algorithms for Verifying Deep Neural Networks. - Changliu Liu; Tomer Arnon; Christopher Lazarus; Christopher A. Strong; Clark W. Barrett; Mykel J. Kochenderfer (Found. Trends Optim., 2021)

Jerk-bounded Position Controller with Real-Time Task Modification for Interactive Industrial Robots. - Ruixuan Liu; Rui Chen 030; Yifan Sun 011; Yu Zhao; Changliu Liu (AIM, 2022)

Safe Hierarchical Navigation in Crowded Dynamic Uncertain Environments. - Hongyi Chen; Shiyu Feng; Ye Zhao 002; Changliu Liu; Patricio A. Vela (CDC, 2022)

Noncooperative Herding With Control Barrier Functions: Theory and Experiments. - Jaskaran Grover; Nishant Mohanty; Changliu Liu; Wenhao Luo; Katia P. Sycara (CDC, 2022)

ARC - Actor Residual Critic for Adversarial Imitation Learning. - Ankur Deka; Changliu Liu; Katia P. Sycara (CoRL, 2022)

Safe Control Under Input Limits with Neural Control Barrier Functions. - Simin Liu; Changliu Liu; John M. Dolan (CoRL, 2022)

Distributed Multirobot Control for Non-cooperative Herding. - Nishant Mohanty; Jaskaran Grover; Changliu Liu; Katia P. Sycara (DARS, 2022)

A Composable Framework for Policy Design, Learning, and Transfer Toward Safe and Efficient Industrial Insertion. - Rui Chen 030; Chenxi Wang; Tianhao Wei; Changliu Liu (IROS, 2022)

Safe and Efficient Exploration of Human Models During Human-Robot Interaction. - Ravi Pandya; Changliu Liu (IROS, 2022)

Joint Synthesis of Safety Certificate and Safe Control Policy Using Constrained Reinforcement Learning. - Haitong Ma; Changliu Liu; Shengbo Eben Li; Sifa Zheng; Jianyu Chen (L4DC, 2022)

Safe Control with Neural Network Dynamic Models. - Tianhao Wei; Changliu Liu (L4DC, 2022)

Transferable and Adaptable Driving Behavior Prediction. - Letian Wang; Yeping Hu; Liting Sun; Wei Zhan; Masayoshi Tomizuka; Changliu Liu (CoRR, 2022)

Learning from Physical Human Feedback: An Object-Centric One-Shot Adaptation Method. - Alvin Shek; Rui Chen 030; Changliu Liu (CoRR, 2022)

An Optical Controlling Environment and Reinforcement Learning Benchmarks. - Abulikemu Abuduweili; Changliu Liu (CoRR, 2022)

Safe Interactive Industrial Robots using Jerk-based Safe Set Algorithm. - Ruixuan Liu; Rui Chen 030; Changliu Liu (CoRR, 2022)

Robust Task Planning for Assembly Lines with Human-Robot Collaboration. - Jessica EnShiuan Leu; Yujiao Cheng; Changliu Liu; Masayoshi Tomizuka (CoRR, 2022)

Social Interactions for Autonomous Driving: A Review and Perspective. - Wenshuo Wang 001; Letian Wang; Chengyuan Zhang 002; Changliu Liu; Lijun Sun 001 (CoRR, 2022)

Control Barrier Functions-based Semi-Definite Programs (CBF-SDPs): Robust Safe Control For Dynamic Systems with Relative Degree Two Safety Indices. - Jaskaran Singh Grover; Changliu Liu; Katia P. Sycara (CoRR, 2022)

BioSLAM: A Bio-inspired Lifelong Memory System for General Place Recognition. - Peng Yin 001; Abulikemu Abuduweili; Shiqi Zhao; Changliu Liu; Sebastian A. Scherer (CoRR, 2022)

General Place Recognition Survey: Towards the Real-world Autonomy Age. - Peng Yin 001; Shiqi Zhao; Ivan Cisneros; Abulikemu Abuduweili; Guoquan Huang 001; Michael J. Milford; Changliu Liu; Howie Choset; Sebastian A. Scherer (CoRR, 2022)

Robust Safe Control for Uncertain Dynamic Models. - Tianhao Wei; Shucheng Kang; Weiye Zhao; Changliu Liu (CoRR, 2022)

Task-Agnostic Adaptation for Safe Human-Robot Handover. - Ruixuan Liu; Rui Chen 030; Changliu Liu (CoRR, 2022)

The Third International Verification of Neural Networks Competition (VNN-COMP 2022): Summary and Results. - Mark Niklas Müller; Christopher Brix; Stanley Bak; Changliu Liu; Taylor T. Johnson (CoRR, 2022)

Safe and Sample-Efficient Reinforcement Learning for Clustered Dynamic Environments. - Hongyi Chen; Changliu Liu (IEEE Control. Syst. Lett., 2022)

Provably Safe Tolerance Estimation for Robot Arms via Sum-of-Squares Programming. - Weiye Zhao; Suqin He; Changliu Liu (IEEE Control. Syst. Lett., 2022)

Social Interactions for Autonomous Driving: A Review and Perspectives. - Wenshuo Wang 001; Letian Wang; Chengyuan Zhang 002; Changliu Liu; Lijun Sun 001 (Found. Trends Robotics, 2022)

Efficient Game-Theoretic Planning With Prediction Heuristic for Socially-Compliant Autonomous Driving. - Chenran Li; Tu Trinh; Letian Wang; Changliu Liu; Masayoshi Tomizuka; Wei Zhan (IEEE Robotics Autom. Lett., 2022)

AutoCost: Evolving Intrinsic Cost for Zero-Violation Reinforcement Learning. - Tairan He; Weiye Zhao; Changliu Liu (AAAI, 2023)

Safety Index Synthesis via Sum-of-Squares Programming. - Weiye Zhao; Tairan He; Tianhao Wei; Simin Liu; Changliu Liu (ACC, 2023)

Proactive Human-Robot Co-Assembly: Leveraging Human Intention Prediction and Robust Safe Control. - Ruixuan Liu; Rui Chen 030; Abulikemu Abuduweili; Changliu Liu (CCTA, 2023)

Zero-Shot Transferable and Persistently Feasible Safe Control for High Dimensional Systems by Consistent Abstraction. - Tianhao Wei; Shucheng Kang; Ruixuan Liu; Changliu Liu (CDC, 2023)

Online Model Adaptation with Feedforward Compensation. - Abulikemu Abuduweili; Changliu Liu (CoRL, 2023)

Learning from Physical Human Feedback: An Object-Centric One-Shot Adaptation Method. - Alvin Shek; Bo Ying Su; Rui Chen 030; Changliu Liu (ICRA, 2023)

State-wise Safe Reinforcement Learning: A Survey. - Weiye Zhao; Tairan He; Rui Chen 030; Tianhao Wei; Changliu Liu (IJCAI, 2023)

Interactive Car-Following: Matters but NOT Always. - Chengyuan Zhang 002; Rui Chen 030; Jiacheng Zhu; Wenshuo Wang 001; Changliu Liu; Lijun Sun 001 (ITSC, 2023)

Space-Time Conflict Spheres for Constrained Multi-Agent Motion Planning. - Anirudh Chari; Rui Chen 030; Changliu Liu (IV, 2023)

Consensus-Based Fault-Tolerant Platooning for Connected and Autonomous Vehicles. - Tzu-Yen Tseng; Ding-Jiun Huang; Jia-You Lin; Po-Jui Chang; Chung-Wei Lin; Changliu Liu (IV, 2023)

Probabilistic Safeguard for Reinforcement Learning Using Safety Index Guided Gaussian Process Models. - Weiye Zhao; Tairan He; Changliu Liu (L4DC, 2023)

Building Verified Neural Networks for Computer Systems with Ouroboros. - Cheng Tan; Changliu Liu; Zhihao Jia; Tianhao Wei (MLSys, 2023)

Hybrid Task Constrained Planner for Robot Manipulator in Confined Environment. - Yifan Sun 011; Weiye Zhao; Changliu Liu (CoRR, 2023)

GUARD: A Safe Reinforcement Learning Benchmark. - Weiye Zhao; Rui Chen 030; Yifan Sun 011; Ruixuan Liu; Tianhao Wei; Changliu Liu (CoRR, 2023)

Robotic LEGO Assembly and Disassembly from Human Demonstration. - Ruixuan Liu; Yifan Sun 011; Changliu Liu (CoRR, 2023)

State-wise Constrained Policy Optimization. - Weiye Zhao; Rui Chen 030; Yifan Sun 011; Tianhao Wei; Changliu Liu (CoRR, 2023)

Customizing Textile and Tactile Skins for Interactive Industrial Robots. - Bo Ying Su; Zhongqi Wei; James McCann; Wenzhen Yuan 001; Changliu Liu (CoRR, 2023)

Robotic Planning under Hierarchical Temporal Logic Specifications. - Xusheng Luo; Shaojun Xu; Ruixuan Liu; Changliu Liu (CoRR, 2023)

A Lightweight and Transferable Design for Robust LEGO Manipulation. - Ruixuan Liu; Yifan Sun 011; Changliu Liu (CoRR, 2023)

Simulation-aided Learning from Demonstration for Robotic LEGO Construction. - Ruixuan Liu; Alan Chen 007; Xusheng Luo; Changliu Liu (CoRR, 2023)

Robust Safe Control with Multi-Modal Uncertainty. - Tianhao Wei; Liqian Ma; Ravi Pandya; Changliu Liu (CoRR, 2023)

Learning Predictive Safety Filter via Decomposition of Robust Invariant Set. - Zeyang Li 001; Chuxiong Hu; Weiye Zhao; Changliu Liu (CoRR, 2023)

ThinkBot: Embodied Instruction Following with Thought Chain Reasoning. - Guanxing Lu; Ziwei Wang 001; Changliu Liu; Jiwen Lu; Yansong Tang (CoRR, 2023)

The Fourth International Verification of Neural Networks Competition (VNN-COMP 2023): Summary and Results. - Christopher Brix; Stanley Bak; Changliu Liu; Taylor T. Johnson (CoRR, 2023)

Persistently Feasible Robust Safe Control by Safety Index Synthesis and Convex Semi-Infinite Programming. - Tianhao Wei; Shucheng Kang; Weiye Zhao; Changliu Liu (IEEE Control. Syst. Lett., 2023)

An Optical Control Environment for Benchmarking Reinforcement Learning Algorithms. - Abulikemu Abuduweili; Changliu Liu (Trans. Mach. Learn. Res., 2023)

The Before, During, and After of Multi-robot Deadlock. - Jaskaran Grover; Changliu Liu; Katia P. Sycara (Int. J. Robotics Res., 2023)

Robust and Context-Aware Real-Time Collaborative Robot Handling via Dynamic Gesture Commands. - Rui Chen 030; Alvin Shek; Changliu Liu (IEEE Robotics Autom. Lett., 2023)

First three years of the international verification of neural networks competition (VNN-COMP). - Christopher Brix; Mark Niklas Müller; Stanley Bak; Taylor T. Johnson; Changliu Liu (Int. J. Softw. Tools Technol. Transf., 2023)

A hierarchical long short term safety framework for efficient robot manipulation under uncertainty. - Suqin He; Weiye Zhao; Chuxiong Hu; Yu Zhu 001; Changliu Liu (Robotics Comput. Integr. Manuf., 2023)

BioSLAM: A Bioinspired Lifelong Memory System for General Place Recognition. - Peng Yin 001; Abulikemu Abuduweili; Shiqi Zhao; Lingyun Xu; Changliu Liu; Sebastian A. Scherer (IEEE Trans. Robotics, 2023)

An Optimal Control Framework for Influencing Human Driving Behavior in Mixed-Autonomy Traffic. - Anirudh Chari; Rui Chen 030; Jaskaran Grover; Changliu Liu (ACC, 2024)

Safety Index Synthesis with State-Dependent Control Space. - Rui Chen 030; Weiye Zhao; Changliu Liu (ACC, 2024)

Real-Time Safety Index Adaptation for Parameter-Varying Systems via Determinant Gradient Ascend. - Rui Chen 030; Weiye Zhao; Ruixuan Liu; Weiyang Zhang; Changliu Liu (ACC, 2024)

Multimodal Safe Control for Human-Robot Interaction. - Ravi Pandya; Tianhao Wei; Changliu Liu (ACC, 2024)

Hybrid Task Constrained Incremental Planner for Robot Manipulators in Confined Environments. - Yifan Sun 011; Weiye Zhao; Changliu Liu (ACC, 2024)

KOROL: Learning Visualizable Object Feature with Koopman Operator Rollout for Manipulation. - Hongyi Chen; Abulikemu Abuduweili; Aviral Agrawal; Yunhai Han; Harish Ravichandar; Changliu Liu; Jeffrey Ichnowski (CoRL, 2024)

OmniH2O: Universal and Dexterous Human-to-Humanoid Whole-Body Teleoperation and Learning. - Tairan He; Zhengyi Luo 002; Xialin He; Wenli Xiao; Chong Zhang; Weinan Zhang 001; Kris M. Kitani; Changliu Liu; Guanya Shi (CoRL, 2024)

Verification of Neural Control Barrier Functions with Symbolic Derivative Bounds Propagation. - Hanjiang Hu; Yujie Yang; Tianhao Wei; Changliu Liu (CoRL, 2024)

Meta-Control: Automatic Model-based Control Synthesis for Heterogeneous Robot Skills. - Tianhao Wei; Liqian Ma; Rui Chen 030; Weiye Zhao; Changliu Liu (CoRL, 2024)

ManiGaussian: Dynamic Gaussian Splatting for Multi-task Robotic Manipulation. - Guanxing Lu; Shiyi Zhang; Ziwei Wang 001; Changliu Liu; Jiwen Lu; Yansong Tang (ECCV (35), 2024)

Synthesis and Verification of Robust-Adaptive Safe Controllers. - Simin Liu; Kai S. Yun; John M. Dolan; Changliu Liu (ECC, 2024)

Absolute Policy Optimization: Enhancing Lower Probability Bound of Performance with High Confidence. - Weiye Zhao; Feihan Li; Yifan Sun 011; Rui Chen 030; Tianhao Wei; Changliu Liu (ICML, 2024)

Towards Proactive Safe Human-Robot Collaborations via Data-Efficient Conditional Behavior Prediction. - Ravi Pandya; Zhuoyuan Wang; Yorie Nakahira; Changliu Liu (ICRA, 2024)

Multi-Agent Strategy Explanations for Human-Robot Collaboration. - Ravi Pandya; Michelle Zhao; Changliu Liu; Reid G. Simmons; Henny Admoni (ICRA, 2024)

Optimizing Multi-Touch Textile and Tactile Skin Sensing Through Circuit Parameter Estimation. - Bo Ying Su; Yuchen Wu; Chengtao Wen; Changliu Liu (ICRA, 2024)

Learning Human-to-Humanoid Real-Time Whole-Body Teleoperation. - Tairan He; Zhengyi Luo 002; Wenli Xiao; Chong Zhang; Kris Kitani; Changliu Liu; Guanya Shi (IROS, 2024)

Real-time safe control of neural network dynamic models with sound approximation. - Hanjiang Hu; Jianglin Lan; Changliu Liu (L4DC, 2024)

NN4SysBench: Characterizing Neural Network Verification for Computer Systems. - Shuyi Lin 001; Haoyu He; Tianhao Wei; Kaidi Xu; Huan Zhang; Gagandeep Singh 001; Changliu Liu; Cheng Tan (NeurIPS, 2024)

Agile But Safe: Learning Collision-Free High-Speed Legged Locomotion. - Tairan He; Chong Zhang; Wenli Xiao; Guanqi He; Changliu Liu; Guanya Shi (Robotics: Science and Systems, 2024)

Simultaneous Task Allocation and Planning for Multi-Robots under Hierarchical Temporal Logic Specifications. - Xusheng Luo; Changliu Liu (CoRR, 2024)

The Feasibility of Constrained Reinforcement Learning Algorithms: A Tutorial Study. - Yujie Yang; Zhilong Zheng; Shengbo Eben Li; Masayoshi Tomizuka; Changliu Liu (CoRR, 2024)

Implicit Safe Set Algorithm for Provably Safe Reinforcement Learning. - Weiye Zhao; Tairan He; Feihan Li; Changliu Liu (CoRR, 2024)

Scaling Up Natural Language Understanding for Multi-Robots Through the Lens of Hierarchy. - Shaojun Xu; Xusheng Luo; Yutong Huang; Letian Leng; Ruixuan Liu; Changliu Liu (CoRR, 2024)

Physics-Aware Combinatorial Assembly Planning using Deep Reinforcement Learning. - Ruixuan Liu; Alan Chen 007; Weiye Zhao; Changliu Liu (CoRR, 2024)

Automating Robot Failure Recovery Using Vision-Language Models With Optimized Prompts. - Hongyi Chen; Yunchao Yao; Ruixuan Liu; Changliu Liu; Jeffrey Ichnowski (CoRR, 2024)

Safe Control of Quadruped in Varying Dynamics via Safety Index Adaptation. - Kai S. Yun; Rui Chen 030; Chase Dunaway; John M. Dolan; Changliu Liu (CoRR, 2024)

Constrained Bandwidth Observation Sharing for Multi-Robot Navigation in Dynamic Environments via Intelligent Knapsack. - Anirudh Chari; Rui Chen 030; Changliu Liu (CoRR, 2024)

Robots that Learn to Safely Influence via Prediction-Informed Reach-Avoid Dynamic Games. - Ravi Pandya; Changliu Liu; Andrea Bajcsy (CoRR, 2024)

Absolute State-wise Constrained Policy Optimization: High-Probability State-wise Constraints Satisfaction. - Weiye Zhao; Feihan Li; Yifan Sun 011; Yujie Wang; Rui Chen 030; Tianhao Wei; Changliu Liu (CoRR, 2024)

Robust Tracking Control with Neural Network Dynamic Models under Input Perturbations. - Huixuan Cheng; Hanjiang Hu; Changliu Liu (CoRR, 2024)

AssemblyComplete: 3D Combinatorial Construction with Deep Reinforcement Learning. - Alan Chen 007; Changliu Liu (CoRR, 2024)

HOVER: Versatile Neural Whole-Body Controller for Humanoid Robots. - Tairan He; Wenli Xiao; Toru Lin; Zhengyi Luo 002; Zhenjia Xu; Zhenyu Jiang 002; Jan Kautz; Changliu Liu; Guanya Shi; Xiaolong Wang 004; Linxi Fan; Yuke Zhu (CoRR, 2024)

Estimating Neural Network Robustness via Lipschitz Constant and Architecture Sensitivity. - Abulikemu Abuduweili; Changliu Liu (CoRR, 2024)

On the Boundary Feasibility for PDE Control with Neural Operators. - Hanjiang Hu; Changliu Liu (CoRR, 2024)

Robustifying Long-term Human-Robot Collaboration through a Hierarchical and Multimodal Framework. - Peiqi Yu; Abulikemu Abuduweili; Ruixuan Liu; Changliu Liu (CoRR, 2024)

Improve Certified Training with Signal-to-Noise Ratio Loss to Decrease Neuron Variance and Increase Neuron Stability. - Tianhao Wei; Ziwei Wang 001; Peizhi Niu; Abulikemu Abuduweili; Weiye Zhao; Casidhe Hutchison; Eric M. Sample; Changliu Liu (Trans. Mach. Learn. Res., 2024)

State-wise Constrained Policy Optimization. - Weiye Zhao; Rui Chen 030; Yifan Sun 011; Feihan Li; Tianhao Wei; Changliu Liu (Trans. Mach. Learn. Res., 2024)

GUARD: A Safe Reinforcement Learning Benchmark. - Weiye Zhao; Yifan Sun 011; Feihan Li; Rui Chen 030; Ruixuan Liu; Tianhao Wei; Changliu Liu (Trans. Mach. Learn. Res., 2024)

Decomposition-Based Hierarchical Task Allocation and Planning for Multi-Robots Under Hierarchical Temporal Logic Specifications. - Xusheng Luo; Shaojun Xu; Ruixuan Liu; Changliu Liu (IEEE Robotics Autom. Lett., 2024)

StableLego: Stability Analysis of Block Stacking Assembly. - Ruixuan Liu; Kangle Deng; Ziwei Wang 001; Changliu Liu (IEEE Robotics Autom. Lett., 2024)

Efficient Reinforcement Learning of Task Planners for Robotic Palletization Through Iterative Action Masking Learning. - Zheng Wu 002; Yichuan Li 002; Wei Zhan; Changliu Liu; Yun-Hui Liu 001; Masayoshi Tomizuka (IEEE Robotics Autom. Lett., 2024)

Robot Failure Recovery Using Vision-Language Models With Optimized Prompts. - Hongyi Chen; Yunchao Yao; Ruixuan Liu; Changliu Liu; Jeffrey Ichnowski (ACC, 2025)

ModelVerification.jl: A Comprehensive Toolbox for Formally Verifying Deep Neural Networks. - Tianhao Wei; Hanjiang Hu; Luca Marzari; Kai S. Yun; Peizhi Niu; Xusheng Luo; Changliu Liu (CAV (2), 2025)

Revisiting the Initial Steps in Adaptive Gradient Descent Optimization. - Abulikemu Abuduweili; Changliu Liu (CPAL, 2025)

ThinkBot: Embodied Instruction Following with Thought Chain Reasoning. - Guanxing Lu; Ziwei Wang; Changliu Liu; Jiwen Lu; Yansong Tang (ICLR, 2025)

Improving Policy Optimization via ε-Retrain. - Luca Marzari; Priya L. Donti; Changliu Liu; Enrico Marchesini (AAMAS, 2025)

Safe PDE Boundary Control with Neural Operators. - Hanjiang Hu; Changliu Liu (L4DC, 2025)

Continual Learning and Lifting of Koopman Dynamics for Linear Control of Legged Robots. - Feihan Li; Abulikemu Abuduweili; Yifan Sun 011; Rui Chen 030; Weiye Zhao; Changliu Liu (L4DC, 2025)

Learn With Imagination: Safe Set Guided State-wise Constrained Policy Optimization. - Yifan Sun 011; Feihan Li; Weiye Zhao; Rui Chen 030; Tianhao Wei; Changliu Liu (L4DC, 2025)

Scalable Synthesis of Formally Verified Neural Value Function for Hamilton-Jacobi Reachability Analysis. - Yujie Yang; Hanjiang Hu; Tianhao Wei; Shengbo Eben Li; Changliu Liu (J. Artif. Intell. Res., 2025)

Enhancing Sample Generation of Diffusion Models using Noise Level Correction. - Abulikemu Abuduweili; Chenyang Yuan 001; Changliu Liu; Frank Permenter (Trans. Mach. Learn. Res., 2025)

ASAP: Aligning Simulation and Real-World Physics for Learning Agile Humanoid Whole-Body Skills. - Tairan He; Jiawei Gao; Wenli Xiao; Yuanhang Zhang; Zi Wang; Jiashun Wang; Zhengyi Luo 002; Guanqi He; Nikhil Sobanbab; Chaoyi Pan; Zeji Yi; Guannan Qu; et al. (CoRR, 2025)

Dexterous Safe Control for Humanoids in Cluttered Environments via Projected Safe Set Algorithm. - Rui Chen 030; Yifan Sun 011; Changliu Liu (CoRR, 2025)

SPARK: A Modular Benchmark for Humanoid Robot Safety. - Yifan Sun 011; Rui Chen 030; Kai S. Yun; Yikuan Fang; Sebin Jung; Feihan Li; Bowei Li; Weiye Zhao; Changliu Liu (CoRR, 2025)

Learn Zero-Constraint-Violation Safe Policy in Model-Free Constrained Reinforcement Learning. - Haitong Ma; Changliu Liu; Shengbo Eben Li; Sifa Zheng; Wenchao Sun; Jianyu Chen (IEEE Trans. Neural Networks Learn. Syst., 2025)

Steering Dialogue Dynamics for Robustness against Multi-turn Jailbreaking Attacks. - Hanjiang Hu; Alexander Robey; Changliu Liu (CoRR, 2025)

Eye-in-Finger: Smart Fingers for Delicate Assembly and Disassembly of LEGO. - Zhenran Tang; Ruixuan Liu; Changliu Liu (CoRR, 2025)

APEX-MR: Multi-Robot Asynchronous Planning and Execution for Cooperative Assembly. - Philip Huang; Ruixuan Liu; Changliu Liu; Jiaoyang Li 001 (CoRR, 2025)

Hierarchical Temporal Logic Task and Motion Planning for Multi-Robot Systems. - Zhongqi Wei; Xusheng Luo; Changliu Liu (CoRR, 2025)

Certifying Robustness of Learning-Based Keypoint Detection and Pose Estimation Methods. - Xusheng Luo; Tianhao Wei; Simin Liu; Ziwei Wang 001; Luis Mattei-Mendez; Taylor Loper; Joshua Neighbor; Casidhe Hutchison; Changliu Liu (ACM Trans. Cyber Phys. Syst., 2025)

Demonstrating ViSafe: Vision-enabled Safety for High-speed Detect and Avoid. - Parv Kapoor; Ian Higgins; Nikhil Varma Keetha; Jay Patrikar; Brady G. Moon; Zelin Ye; Yao He; Ivan Cisneros; Yaoyu Hu; Changliu Liu; Eunsuk Kang; Sebastian A. Scherer (CoRR, 2025)

Generating Physically Stable and Buildable LEGO Designs from Text. - Ava Pun; Kangle Deng; Ruixuan Liu; Deva Ramanan; Changliu Liu; Jun-Yan Zhu (CoRR, 2025)

Deployable and Generalizable Motion Prediction: Taxonomy, Open Challenges and Future Directions. - Letian Wang; Marc-Antoine Lavoie; Sandro Papais; Barza Nisar; Yuxiao Chen 008; Wenhao Ding; Boris Ivanovic; Hao Shao; Abulikemu Abuduweili; Evan Cook; Yang Zhou 019; Péter Karkus; et al. (CoRR, 2025)

Control Invariant Sets for Neural Network Dynamical Systems and Recursive Feasibility in Model Predictive Control. - Xiao Li; Tianhao Wei; Changliu Liu; Anouck Girard; Ilya V. Kolmanovsky (CoRR, 2025)

Physics-Aware Combinatorial Assembly Sequence Planning Using Data-Free Action Masking. - Ruixuan Liu; Alan Chen 007; Weiye Zhao; Changliu Liu (IEEE Robotics Autom. Lett., 2025)

NeSyPack: A Neuro-Symbolic Framework for Bimanual Logistics Packing. - Bowei Li; Peiqi Yu; Zhenran Tang; Han Zhou; Yifan Sun 011; Ruixuan Liu; Changliu Liu (CoRR, 2025)

Verifiable Safety Q-Filters via Hamilton-Jacobi Reachability and Multiplicative Q-Networks. - Jiaxing Li; Hanjiang Hu; Yujie Yang; Changliu Liu (CoRR, 2025)