Using dVRK teleoperation to facilitate deep learning of automation tasks for an industrial robot. - Jacky Liang; Jeffrey Mahler; Michael Laskey; Pusong Li; Ken Goldberg (CASE, 2017)

Design of parallel-jaw gripper tip surfaces for robust grasping. - Menglong Guo; David V. Gealy; Jacky Liang; Jeffrey Mahler; Aimee Goncalves; Stephen McKinley; Juan Aparicio Ojea; Ken Goldberg (ICRA, 2017)

Dex-Net 2.0: Deep Learning to Plan Robust Grasps with Synthetic Point Clouds and Analytic Grasp Metrics. - Jeffrey Mahler; Jacky Liang; Sherdil Niyaz; Michael Laskey; Richard Doan; Xinyu Liu 014; Juan Aparicio Ojea; Ken Goldberg (Robotics: Science and Systems, 2017)

GPU-Accelerated Robotic Simulation for Distributed Reinforcement Learning. - Jacky Liang; Viktor Makoviychuk; Ankur Handa; Nuttapong Chentanez; Miles Macklin; Dieter Fox (CoRL, 2018)

Toward Precise Robotic Grasping by Probabilistic Post-grasp Displacement Estimation. - Jialiang Alan Zhao; Jacky Liang; Oliver Kroemer (FSR, 2019)

Homography-Based Deep Visual Servoing Methods for Planar Grasps. - Austin S. Wang; Wuming Zhang; Daniel Troniak; Jacky Liang; Oliver Kroemer (IROS, 2019)

Towards Precise Robotic Grasping by Probabilistic Post-grasp Displacement Estimation. - Jialiang Zhao; Jacky Liang; Oliver Kroemer (CoRR, 2019)

Learning to Compose Hierarchical Object-Centric Controllers for Robotic Manipulation. - Mohit Sharma 001; Jacky Liang; Jialiang Zhao; Alex LaGrassa; Oliver Kroemer (CoRL, 2020)

DexPilot: Vision-Based Teleoperation of Dexterous Robotic Hand-Arm System. - Ankur Handa; Karl Van Wyk; Wei Yang 019; Jacky Liang; Yu-Wei Chao; Qian Wan; Stan Birchfield; Nathan D. Ratliff; Dieter Fox (ICRA, 2020)

In-Hand Object Pose Tracking via Contact Feedback and GPU-Accelerated Robotic Simulation. - Jacky Liang; Ankur Handa; Karl Van Wyk; Viktor Makoviychuk; Oliver Kroemer; Dieter Fox (ICRA, 2020)

Learning Active Task-Oriented Exploration Policies for Bridging the Sim-to-Real Gap. - Jacky Liang; Saumya Saxena; Oliver Kroemer (Robotics: Science and Systems, 2020)

Undergraduate-Led Survey Class to Improve CS Education for New Students. - Nathan Zhang; Jacky Liang; Amanda Tomlinson; Frank Boensch; Anant Sahai (SIGCSE, 2020)

A Modular Robotic Arm Control Stack for Research: Franka-Interface and FrankaPy. - Kevin Zhang 002; Mohit Sharma 001; Jacky Liang; Oliver Kroemer (CoRR, 2020)

Contact Localization for Robot Arms in Motion without Torque Sensing. - Jacky Liang; Oliver Kroemer (ICRA, 2021)

Visual Identification of Articulated Object Parts. - Vicky Zeng; Timothy E. Lee; Jacky Liang; Oliver Kroemer (IROS, 2021)

Inner Monologue: Embodied Reasoning through Planning with Language Models. - Wenlong Huang; Fei Xia 002; Ted Xiao; Harris Chan; Jacky Liang; Pete Florence; Andy Zeng 001; Jonathan Tompson; Igor Mordatch; Yevgen Chebotar; Pierre Sermanet; Tomas Jackson; et al. (CoRL, 2022)

Learning Preconditions of Hybrid Force-Velocity Controllers for Contact-Rich Manipulation. - Jacky Liang; Xianyi Cheng; Oliver Kroemer (CoRL, 2022)

Search-Based Task Planning with Learned Skill Effect Models for Lifelong Robotic Manipulation. - Jacky Liang; Mohit Sharma 001; Alex LaGrassa; Shivam Vats; Saumya Saxena; Oliver Kroemer (ICRA, 2022)

Code as Policies: Language Model Programs for Embodied Control. - Jacky Liang; Wenlong Huang; Fei Xia 002; Peng Xu 010; Karol Hausman; Brian Ichter; Pete Florence; Andy Zeng 001 (ICRA, 2023)

Learning with Structured Priors for Robust Robot Manipulation - Jacky Liang (2023)

Chain of Code: Reasoning with a Language Model-Augmented Code Emulator. - Chengshu Li 002; Jacky Liang; Andy Zeng 001; Xinyun Chen; Karol Hausman; Dorsa Sadigh; Sergey Levine; Li Fei-Fei 001; Fei Xia 002; Brian Ichter (ICML, 2024)

PIVOT: Iterative Visual Prompting Elicits Actionable Knowledge for VLMs. - Soroush Nasiriany; Fei Xia 002; Wenhao Yu 003; Ted Xiao; Jacky Liang; Ishita Dasgupta 001; Annie Xie; Danny Driess; Ayzaan Wahid; Zhuo Xu; Quan Vuong; Tingnan Zhang; et al. (ICML, 2024)

How to Prompt Your Robot: A PromptBook for Manipulation Skills with Code as Policies. - 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; et al. (ICRA, 2024)

Open X-Embodiment: Robotic Learning Datasets and RT-X Models : Open X-Embodiment Collaboration. - Abby O'Neill; Abdul Rehman; Abhiram Maddukuri; Abhishek Gupta 004; Abhishek Padalkar; Abraham Lee; Acorn Pooley; Agrim Gupta; Ajay Mandlekar; Ajinkya Jain; Albert Tung; Alex Bewley; et al. (ICRA, 2024)

Learning to Learn Faster from Human Feedback with Language Model Predictive Control. - Jacky Liang; Fei Xia 002; Wenhao Yu 003; Andy Zeng 001; Maria Attarian; Maria Bauzá Villalonga; Matthew Bennice; Alex Bewley; Adil Dostmohamed; Chuyuan Fu; Nimrod Gileadi; Marissa Giustina; et al. (Robotics: Science and Systems, 2024)

Learning to Learn Faster from Human Feedback with Language Model Predictive Control. - Jacky Liang; Fei Xia 002; Wenhao Yu 003; Andy Zeng 001; Montserrat Gonzalez Arenas; Maria Attarian; Maria Bauzá 001; Matthew Bennice; Alex Bewley; Adil Dostmohamed; Chuyuan Kelly Fu; Nimrod Gileadi; et al. (CoRR, 2024)

Vision Language Models are In-Context Value Learners. - Yecheng Jason Ma; Joey Hejna; Ayzaan Wahid; Chuyuan Fu; Dhruv Shah; Jacky Liang; Zhuo Xu; Sean Kirmani; Peng Xu 010; Danny Driess; Ted Xiao; Jonathan Tompson; et al. (CoRR, 2024)

Vision Language Models are In-Context Value Learners. - Yecheng Jason Ma; Joey Hejna; Chuyuan Fu; Dhruv Shah; Jacky Liang; Zhuo Xu; Sean Kirmani; Peng Xu 010; Danny Driess; Ted Xiao; Osbert Bastani; Dinesh Jayaraman; et al. (ICLR, 2025)

Gemini Robotics: Bringing AI into the Physical World. - Gemini Robotics Team; Saminda Abeyruwan; Joshua Ainslie; Jean-Baptiste Alayrac; Montserrat Gonzalez Arenas; Travis Armstrong; Ashwin Balakrishna; Robert Baruch; Maria Bauzá 001; Michiel Blokzijl; Steven Bohez; Konstantinos Bousmalis; et al. (CoRR, 2025)

Chain-of-Modality: Learning Manipulation Programs from Multimodal Human Videos with Vision-Language-Models. - Chen Wang 053; Fei Xia 002; Wenhao Yu 003; Tingnan Zhang; Ruohan Zhang; C. Karen Liu; Li Fei-Fei 001; Jie Tan 001; Jacky Liang (CoRR, 2025)