Multimodal execution monitoring for anomaly detection during robot manipulation. - Daehyung Park; Zackory Erickson; Tapomayukh Bhattacharjee; Charles C. Kemp (ICRA, 2016)

Towards Assistive Feeding with a General-Purpose Mobile Manipulator. - Daehyung Park; You Keun Kim; Zackory M. Erickson; Charles C. Kemp (CoRR, 2016)

Semi-Supervised Haptic Material Recognition for Robots using Generative Adversarial Networks. - Zackory Erickson; Sonia Chernova; Charles C. Kemp (CoRL, 2017)

What does the person feel? Learning to infer applied forces during robot-assisted dressing. - Zackory Erickson; Alexander Clegg; Wenhao Yu 003; Greg Turk; C. Karen Liu; Charles C. Kemp (ICRA, 2017)

Learning to navigate cloth using haptics. - Alexander Clegg; Wenhao Yu 003; Zackory Erickson; Jie Tan 001; C. Karen Liu; Greg Turk (IROS, 2017)

A multimodal execution monitor with anomaly classification for robot-assisted feeding. - Daehyung Park; Hokeun Kim; Yuuna Hoshi; Zackory Erickson; Ariel Kapusta; Charles C. Kemp (IROS, 2017)

Learning to Navigate Cloth using Haptics. - Alexander Clegg; Wenhao Yu 003; Zackory Erickson; C. Karen Liu; Greg Turk (CoRR, 2017)

Deep Haptic Model Predictive Control for Robot-Assisted Dressing. - Zackory Erickson; Henry M. Clever; Greg Turk; C. Karen Liu; Charles C. Kemp (ICRA, 2018)

3D Human Pose Estimation on a Configurable Bed from a Pressure Image. - Henry M. Clever; Ariel Kapusta; Daehyung Park; Zackory Erickson; Yash Chitalia; Charles C. Kemp (IROS, 2018)

Estimating 3D Human Pose on a Configurable Bed from a Single Pressure Image. - Henry M. Clever; Ariel Kapusta; Daehyung Park; Zackory Erickson; Yash Chitalia; Charles C. Kemp (CoRR, 2018)

Tracking Human Pose During Robot-Assisted Dressing Using Single-Axis Capacitive Proximity Sensing. - Zackory Erickson; Maggie Collier; Ariel Kapusta; Charles C. Kemp (IEEE Robotics Autom. Lett., 2018)

Multidimensional Capacitive Sensing for Robot-Assisted Dressing and Bathing. - Zackory Erickson; Henry M. Clever; Vamsee Gangaram; Greg Turk; C. Karen Liu; Charles C. Kemp (ICORR, 2019)

Autonomous Tool Construction Using Part Shape and Attachment Prediction. - Lakshmi Nair 001; Nithin Shrivatsav Srikanth; Zackory Erickson; Sonia Chernova (Robotics: Science and Systems, 2019)

Personalized collaborative plans for robot-assisted dressing via optimization and simulation. - Ariel Kapusta; Zackory Erickson; Henry M. Clever; Wenhao Yu 003; C. Karen Liu; Greg Turk; Charles C. Kemp (Auton. Robots, 2019)

Classification of Household Materials via Spectroscopy. - Zackory Erickson; Nathan Luskey; Sonia Chernova; Charles C. Kemp (IEEE Robotics Autom. Lett., 2019)

Bodies at Rest: 3D Human Pose and Shape Estimation From a Pressure Image Using Synthetic Data. - Henry M. Clever; Zackory Erickson; Ariel Kapusta; Greg Turk; C. Karen Liu; Charles C. Kemp (CVPR, 2020)

Assistive Gym: A Physics Simulation Framework for Assistive Robotics. - Zackory Erickson; Vamsee Gangaram; Ariel Kapusta; C. Karen Liu; Charles C. Kemp (ICRA, 2020)

Multimodal Material Classification for Robots using Spectroscopy and High Resolution Texture Imaging. - Zackory Erickson; Eliot Xing; Bharat Srirangam; Sonia Chernova; Charles C. Kemp (IROS, 2020)

Assistive VR Gym: Interactions with Real People to Improve Virtual Assistive Robots. - Zackory Erickson; Yijun Gu; Charles C. Kemp (RO-MAN, 2020)

Learning to Collaborate From Simulation for Robot-Assisted Dressing. - Alexander Clegg; Zackory Erickson; Patrick Grady; Greg Turk; Charles C. Kemp; C. Karen Liu (IEEE Robotics Autom. Lett., 2020)

Active robot-assisted feeding with a general-purpose mobile manipulator: Design, evaluation, and lessons learned. - Daehyung Park; Yuuna Hoshi; Harshal P. Mahajan; Hokeun Kim; Zackory Erickson; Wendy A. Rogers; Charles C. Kemp (Robotics Auton. Syst., 2020)

Robotic Caregivers - Simulation and Capacitive Servoing for Physical Human-Robot Interaction. - Zackory Erickson (2021)

Learning Representations that Enable Generalization in Assistive Tasks. - Jerry Zhi-Yang He; Zackory Erickson; Daniel S. Brown; Aditi Raghunathan; Anca D. Dragan (CoRL, 2022)

ToolFlowNet: Robotic Manipulation with Tools via Predicting Tool Flow from Point Clouds. - Daniel Seita; Yufei Wang 007; Sarthak J. Shetty; Edward Yao Li; Zackory Erickson; David Held (CoRL, 2022)

Characterization of a Meso-Scale Wearable Robot for Bathing Assistance. - Fukang Liu; Vaidehi Patil; Zackory Erickson; Fatma Zeynep Temel (ROBIO, 2022)

A Study of Causal Confusion in Preference-Based Reward Learning. - Jeremy Tien; Jerry Zhi-Yang He; Zackory Erickson; Anca D. Dragan; Daniel S. Brown (CoRR, 2022)

Elastic Context: Encoding Elasticity for Data-driven Models of Textiles. - Alberta Longhini; Marco Moletta; Alfredo Reichlin; Michael C. Welle; Alexander Kravberg; Yufei Wang 007; David Held; Zackory Erickson; Danica Kragic (CoRR, 2022)

Bodies Uncovered: Learning to Manipulate Real Blankets Around People via Physics Simulations. - Kavya Puthuveetil; Charles C. Kemp; Zackory Erickson (IEEE Robotics Autom. Lett., 2022)

CapSense: A Real-Time Capacitive Sensor Simulation Framework for Physical Human-Robot Interaction. - Christian Schöffmann; Zackory Erickson; Hubert Zangl (IEEE Robotics Autom. Lett., 2022)

Visual Haptic Reasoning: Estimating Contact Forces by Observing Deformable Object Interactions. - Yufei Wang 007; David Held; Zackory Erickson (IEEE Robotics Autom. Lett., 2022)

Quantifying Assistive Robustness Via the Natural-Adversarial Frontier. - Jerry Zhi-Yang He; Daniel S. Brown; Zackory Erickson; Anca D. Dragan (CoRL, 2023)

Causal Confusion and Reward Misidentification in Preference-Based Reward Learning. - Jeremy Tien; Jerry Zhi-Yang He; Zackory Erickson; Anca D. Dragan; Daniel S. Brown (ICLR, 2023)

SLURP! Spectroscopy of Liquids Using Robot Pre-Touch Sensing. - Nathaniel Hanson; Wesley Lewis; Kavya Puthuveetil; Donelle Furline; Akhil Padmanabha; Taskin Padir; Zackory Erickson (ICRA, 2023)

EDO-Net: Learning Elastic Properties of Deformable Objects from Graph Dynamics. - Alberta Longhini; Marco Moletta; Alfredo Reichlin; Michael C. Welle; David Held; Zackory Erickson; Danica Kragic (ICRA, 2023)

Elastic Context: Encoding Elasticity for Data-driven Models of Textiles Elastic Context: Encoding Elasticity for Data-driven Models of Textiles. - Alberta Longhini; Marco Moletta; Alfredo Reichlin; Michael C. Welle; Alexander Kravberg; Yufei Wang 007; David Held; Zackory Erickson; Danica Kragic (ICRA, 2023)

HAT: Head-Worn Assistive Teleoperation of Mobile Manipulators. - Akhil Padmanabha; Qin Wang; Daphne Han; Jashkumar Diyora; Kriti Kacker; Hamza Khalid; Liang-Jung Chen; Carmel Majidi; Zackory Erickson (ICRA, 2023)

One Policy to Dress Them All: Learning to Dress People with Diverse Poses and Garments. - Yufei Wang 007; Zhanyi Sun; Zackory Erickson; David Held (Robotics: Science and Systems, 2023)

A Multimodal Sensing Ring for Quantification of Scratch Intensity. - Akhil Padmanabha; Sonal Choudhary; Carmel Majidi; Zackory Erickson (CoRR, 2023)

RoboGen: Towards Unleashing Infinite Data for Automated Robot Learning via Generative Simulation. - Yufei Wang 007; Zhou Xian; Feng Chen; Tsun-Hsuan Wang; Yian Wang 001; Zackory Erickson; David Held; Chuang Gan 001 (CoRR, 2023)

High-density Electromyography for Effective Gesture-based Control of Physically Assistive Mobile Manipulators. - Jehan Yang; Kent Shibata; Douglas J. Weber; Zackory Erickson (CoRR, 2023)

Characterizing Multidimensional Capacitive Servoing for Physical Human-Robot Interaction. - Zackory Erickson; Henry M. Clever; Vamsee Gangaram; Eliot Xing; Greg Turk; C. Karen Liu; Charles C. Kemp (IEEE Trans. Robotics, 2023)

Robust Body Exposure (RoBE): A Graph-Based Dynamics Modeling Approach to Manipulating Blankets Over People. - Kavya Puthuveetil; Sasha Wald; Atharva Pusalkar; Pratyusha Karnati; Zackory Erickson (IEEE Robotics Autom. Lett., 2023)

BodyMAP - Jointly Predicting Body Mesh and 3D Applied Pressure Map for People in Bed. - Abhishek Tandon; Anujraaj Goyal; Henry M. Clever; Zackory Erickson (CVPR, 2024)

Independence in the Home: A Wearable Interface for a Person with Quadriplegia to Teleoperate a Mobile Manipulator. - Akhil Padmanabha; Janavi Gupta; Chen Chen 087; Jehan Yang; Vy Nguyen; Douglas J. Weber; Carmel Majidi; Zackory Erickson (HRI, 2024)

RL-VLM-F: Reinforcement Learning from Vision Language Foundation Model Feedback. - Yufei Wang 007; Zhanyi Sun; Jesse Zhang; Zhou Xian; Erdem Biyik; David Held; Zackory Erickson (ICML, 2024)

RoboGen: Towards Unleashing Infinite Data for Automated Robot Learning via Generative Simulation. - Yufei Wang 007; Zhou Xian; Feng Chen; Tsun-Hsuan Wang; Yian Wang 001; Katerina Fragkiadaki; Zackory Erickson; David Held; Chuang Gan 001 (ICML, 2024)

DiffTORI: Differentiable Trajectory Optimization for Deep Reinforcement and Imitation Learning. - Weikang Wan; Ziyu Wang; Yufei Wang 007; Zackory Erickson; David Held (NeurIPS, 2024)

EMGBench: Benchmarking Out-of-Distribution Generalization and Adaptation for Electromyography. - Jehan Yang; Maxwell Soh; Vivianna Lieu; Douglas J. Weber; Zackory Erickson (NeurIPS, 2024)

Do Mistakes Matter? Comparing Trust Responses of Different Age Groups to Errors Made by Physically Assistive Robots. - Sasha Wald; Kavya Puthuveetil; Zackory Erickson (RO-MAN, 2024)

VoicePilot: Harnessing LLMs as Speech Interfaces for Physically Assistive Robots. - Akhil Padmanabha; Jessie Yuan; Janavi Gupta; Zulekha Karachiwalla; Carmel Majidi; Henny Admoni; Zackory Erickson (UIST, 2024)

Towards an LLM-Based Speech Interface for Robot-Assisted Feeding. - Jessie Yuan; Janavi Gupta; Akhil Padmanabha; Zulekha Karachiwalla; Carmel Majidi; Henny Admoni; Zackory Erickson (UIST (Adjunct Volume), 2024)

DiffTOP: Differentiable Trajectory Optimization for Deep Reinforcement and Imitation Learning. - Weikang Wan; Yufei Wang 007; Zackory Erickson; David Held (CoRR, 2024)

SkinGrip: An Adaptive Soft Robotic Manipulator with Capacitive Sensing for Whole-Limb Bathing Assistance. - Fukang Liu; Kavya Puthuveetil; Akhil Padmanabha; Karan Khokar; Zeynep Temel; Zackory Erickson (CoRR, 2024)

RoboCAP: Robotic Classification and Precision Pouring of Diverse Liquids and Granular Media with Capacitive Sensing. - Yexin Hu; Alexandra Gillespie; Akhil Padmanabha; Kavya Puthuveetil; Wesley Lewis; Karan Khokar; Zackory Erickson (CoRR, 2024)

Incremental Learning for Robot Shared Autonomy. - Yiran Tao; Guixiu Qiao; Dan Ding; Zackory Erickson (CoRR, 2024)

Real-World Offline Reinforcement Learning from Vision Language Model Feedback. - Sreyas Venkataraman; Yufei Wang 007; Ziyu Wang; Zackory Erickson; David Held (CoRR, 2024)

Force-Constrained Visual Policy: Safe Robot-Assisted Dressing via Multi-Modal Sensing. - Zhanyi Sun; Yufei Wang 007; David Held; Zackory Erickson (IEEE Robotics Autom. Lett., 2024)

AdaFold: Adapting Folding Trajectories of Cloths via Feedback-Loop Manipulation. - Alberta Longhini; Michael C. Welle; Zackory Erickson; Danica Kragic (IEEE Robotics Autom. Lett., 2024)

DiSRT-In-Bed: Diffusion-Based Sim-to-Real Transfer Framework for In-Bed Human Mesh Recovery. - Jing Gao; Ce Zheng; László A. Jeni; Zackory Erickson (CVPR, 2025)

Enhancing Independence with Physical Caregiving Robots: https: //caregivingrobots.github.io. - Rajat Kumar Jenamani; Akhil Padmanabha; Amal Nanavati; Maya Cakmak; Zackory Erickson; Tapomayukh Bhattacharjee (HRI, 2025)

LAMS: LLM-Driven Automatic Mode Switching for Assistive Teleoperation. - Yiran Tao; Jehan Yang; Dan Ding; Zackory Erickson (HRI, 2025)

Leveraging Large Language Models for Preference-Based Sequence Prediction. - Michaela Tecson; Daphne Chen; Michelle Zhao; Zackory Erickson; Reid G. Simmons (ICAART (2), 2025)

Unfolding the Literature: A Review of Robotic Cloth Manipulation. - Alberta Longhini; Yufei Wang 007; Irene Garcia-Camacho; David Blanco-Mulero; Marco Moletta; Michael C. Welle; Guillem Alenyà; Hang Yin 001; Zackory Erickson; David Held; Júlia Borràs 001; Danica Kragic (Annu. Rev. Control. Robotics Auton. Syst., 2025)

Towards Wearable Interfaces for Robotic Caregiving. - Akhil Padmanabha; Carmel Majidi; Zackory Erickson (CoRR, 2025)

ArticuBot: Learning Universal Articulated Object Manipulation Policy via Large Scale Simulation. - Yufei Wang 007; Ziyu Wang; Mino Nakura; Pratik Bhowal; Chia-Liang Kuo; Yi-Ting Chen; Zackory Erickson; David Held (CoRR, 2025)

Web2Grasp: Learning Functional Grasps from Web Images of Hand-Object Interactions. - Hongyi Chen; Yunchao Yao; Yufei Ye; Zhixuan Xu; Homanga Bharadhwaj; Jiashun Wang; Shubham Tulsiani; Zackory Erickson; Jeffrey Ichnowski (CoRR, 2025)

CoRI: Synthesizing Communication of Robot Intent for Physical Human-Robot Interaction. - Junxiang Wang; Emek Baris Küçüktabak; Rana Soltani-Zarrin; Zackory Erickson (CoRR, 2025)