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Liu, Changliu

  1. OmniH2O: Universal and Dexterous Human-to-Humanoid Whole-Body Teleoperation and Learning
    2024/06/13 by Tairan He, Zhengyi Luo, He, Tairan +15 · 67 citations
    Computer Science · Psychology · #Context-Aware Activity Recognition Systems #Virtual Reality Applications and Impacts #Social Robot Interaction and HRI
  2. Learning Human-to-Humanoid Real-Time Whole-Body Teleoperation
    2024/03/07 by Tairan He, Zhengyi Luo, He, Tairan +11 · 45 citations
    Computer Science · Medicine · #Artificial Intelligence (cs.AI) #Context-Aware Activity Recognition Systems #FOS: Computer and information sciences #FOS: Electrical engineering #Human Pose and Action Recognition #Machine Learning (cs.LG) #Robotics (cs.RO) #Stroke Rehabilitation and Recovery #Systems and Control (eess.SY) #electronic engineering #information engineering
  3. Algorithms for Verifying Deep Neural Networks
    2019/03/15 by Changliu Liu, Liu, Changliu, Tomer Arnon +9 · 19 citations
    Computer Science · #Adversarial Robustness in Machine Learning #Explainable Artificial Intelligence (XAI) #FOS: Computer and information sciences #Machine Learning (cs.LG) #Machine Learning (stat.ML) #Machine Learning and Algorithms
  4. ASAP: Aligning Simulation and Real-World Physics for Learning Agile Humanoid Whole-Body Skills
    2025/02/03 by Tairan He, Jiawei Gao, He, Tairan +32 · 56 citations
    Computer Science · #Context-Aware Activity Recognition Systems
  5. ManiGaussian: Dynamic Gaussian Splatting for Multi-task Robotic Manipulation
    2024/03/13 by Lu, Guanxing, Zhang, Shiyi, Wang, Ziwei +3 · 26 citations
    #Computer Vision and Pattern Recognition (cs.CV) #FOS: Computer and information sciences #Robotics (cs.RO)
  6. HOVER: Versatile Neural Whole-Body Controller for Humanoid Robots
    2024/10/28 by Tairan He, Wenli Xiao, He, Tairan +21 · 32 citations
    Engineering · #FOS: Computer and information sciences #Prosthetics and Rehabilitation Robotics #Robotic Locomotion and Control #Robotics (cs.RO)
  7. Agile But Safe: Learning Collision-Free High-Speed Legged Locomotion
    2024/01/31 by Tairan He, Chong Zhang, He, Tairan +9 · 20 citations
    Engineering · #Artificial Intelligence (cs.AI) #Computer Vision and Pattern Recognition (cs.CV) #FOS: Computer and information sciences #FOS: Electrical engineering #Machine Learning (cs.LG) #Prosthetics and Rehabilitation Robotics #Robot Manipulation and Learning #Robotic Locomotion and Control #Robotics (cs.RO) #Systems and Control (eess.SY) #electronic engineering #information engineering
  8. First Three Years of the International Verification of Neural Networks Competition (VNN-COMP)
    2023/01/14 by Brix, Christopher, Müller, Mark Niklas, Bak, Stanley +2 · 6 citations
    #Artificial Intelligence (cs.AI) #FOS: Computer and information sciences #Machine Learning (cs.LG) #Software Engineering (cs.SE)
  9. Safe Control Under Input Limits with Neural Control Barrier Functions
    2022/11/20 by Simin Liu, Liu, Simin, Changliu Liu +3 · 4 citations
    Computer Science · Engineering · #Adaptive Dynamic Programming Control #Adversarial Robustness in Machine Learning #Artificial Intelligence (cs.AI) #FOS: Computer and information sciences #FOS: Electrical engineering #Fault Detection and Control Systems #Robotics (cs.RO) #Systems and Control (eess.SY) #electronic engineering #information engineering
  10. State-wise Safe Reinforcement Learning: A Survey
    2023/02/06 by Weiye Zhao, Tairan He, Zhao, Weiye +7 · 4 citations
    Engineering · Psychology · #Autonomous Vehicle Technology and Safety #Safety Systems Engineering in Autonomy #Human-Automation Interaction and Safety
  11. KOROL: Learning Visualizable Object Feature with Koopman Operator Rollout for Manipulation
    2024/06/29 by Chen, Hongyi, Abuduweili, Abulikemu, Agrawal, Aviral +4 · 4 citations
    #FOS: Computer and information sciences #Robotics (cs.RO)
  12. Generating Physically Stable and Buildable Brick Structures from Text
    2025/05/08 by Pun, Ava, Deng, Kangle, Liu, Ruixuan +3 · 9 citations
    #Computer Vision and Pattern Recognition (cs.CV) #FOS: Computer and information sciences
  13. The Second International Verification of Neural Networks Competition (VNN-COMP 2021): Summary and Results
    2021/08/31 by Stanley Bak, Bak, Stanley, Changliu Liu +3 · 2 citations
    Computer Science · Engineering · #Adversarial Robustness in Machine Learning #FOS: Computer and information sciences #Logic in Computer Science (cs.LO) #Machine Learning (cs.LG) #Radiation Effects in Electronics #Software Testing and Debugging Techniques
  14. Safe Control with Neural Network Dynamic Models
    2021/10/03 by Tianhao Wei, Changliu Liu, Wei, Tianhao +1 · 2 citations
    Computer Science · Engineering · #Advanced Control Systems Optimization #Adversarial Robustness in Machine Learning #FOS: Computer and information sciences #FOS: Electrical engineering #Fault Detection and Control Systems #Machine Learning (cs.LG) #Robotics (cs.RO) #Systems and Control (eess.SY) #electronic engineering #information engineering
  15. Joint Synthesis of Safety Certificate and Safe Control Policy using Constrained Reinforcement Learning
    2021/11/15 by Haitong Ma, Ma, Haitong, Changliu Liu +7 · 2 citations
    Engineering · Medicine · #Artificial Intelligence (cs.AI) #Cardiac electrophysiology and arrhythmias #FOS: Computer and information sciences #Machine Learning (cs.LG) #Muscle activation and electromyography studies
  16. Nl2Hltl2Plan: Scaling Up Natural Language Understanding for Multi-Robots Through Hierarchical Temporal Logic Task Representation
    2024/08/15 by Shaojun Xu, Xusheng Luo, Xu, Shaojun +9 · 4 citations
    Computer Science · #Natural Language Processing Techniques #Speech and dialogue systems #Topic Modeling
  17. Verification of Neural Control Barrier Functions with Symbolic Derivative Bounds Propagation
    2024/10/04 by Hanjiang Hu, Yujie Yang, Hu, Hanjiang +5 · 4 citations
    Computer Science · Engineering · #Control Systems and Identification #FOS: Computer and information sciences #FOS: Electrical engineering #FOS: Mathematics #Machine Learning (cs.LG) #Neural Networks and Applications #Optimization and Control (math.OC) #Robotics (cs.RO) #Systems and Control (eess.SY) #electronic engineering #information engineering
  18. Persistently Feasible Robust Safe Control by Safety Index Synthesis and Convex Semi-Infinite Programming
    2022/09/14 by Tianhao Wei, Wei, Tianhao, Shucheng Kang +5 · 2 citations
    Decision Sciences · Engineering · #Advanced Control Systems Optimization #FOS: Computer and information sciences #Fault Detection and Control Systems #Risk and Safety Analysis #Robotics (cs.RO)
  19. The Third International Verification of Neural Networks Competition (VNN-COMP 2022): Summary and Results
    2022/12/20 by Müller, Mark Niklas, Brix, Christopher, Bak, Stanley +2 · 2 citations
    #Artificial Intelligence (cs.AI) #FOS: Computer and information sciences #Machine Learning (cs.LG) #Software Engineering (cs.SE)
  20. The Before, During, and After of Multi-Robot Deadlock
    2022/06/03 by Grover, Jaskaran, Liu, Changliu, Sycara, Katia · 2 citations
    #FOS: Computer and information sciences #FOS: Mathematics #Multiagent Systems (cs.MA) #Optimization and Control (math.OC) #Robotics (cs.RO)
  21. Automating Robot Failure Recovery Using Vision-Language Models With Optimized Prompts
    2024/09/06 by Chen, Hongyi, Yao, Yunchao, Liu, Ruixuan +2 · 3 citations
    #FOS: Computer and information sciences #Robotics (cs.RO)
  22. The Convex Feasible Set Algorithm for Real Time Optimization in Motion Planning
    2017/09/02 by Liu, Changliu, Lin, Chung-Yen, Tomizuka, Masayoshi · 1 citation
    #FOS: Computer and information sciences #FOS: Mathematics #Optimization and Control (math.OC) #Robotics (cs.RO)
  23. GUARD: A Safe Reinforcement Learning Benchmark
    2023/05/23 by Weiye Zhao, Zhao, Weiye, Yifan Sun +10 · 2 citations
    Computer Science · Engineering · #Adversarial Robustness in Machine Learning #Artificial Intelligence (cs.AI) #Autonomous Vehicle Technology and Safety #FOS: Computer and information sciences #Machine Learning (cs.LG) #Reinforcement Learning in Robotics #Robotics (cs.RO)
  24. Simulating Emergent Properties of Human Driving Behavior Using Multi-Agent Reward Augmented Imitation Learning
    2019/03/14 by Bhattacharyya, Raunak P., Phillips, Derek J., Liu, Changliu +3 · 1 citation
    #Artificial Intelligence (cs.AI) #FOS: Computer and information sciences #Machine Learning (cs.LG) #Multiagent Systems (cs.MA)
  25. Safe Control Algorithms Using Energy Functions: A Unified Framework, Benchmark, and New Directions
    2019/08/05 by Wei, Tianhao, Liu, Changliu · 1 citation
    #FOS: Electrical engineering #Systems and Control (eess.SY) #electronic engineering #information engineering
  26. Adaptable Human Intention and Trajectory Prediction for Human-Robot Collaboration
    2019/09/11 by Abuduweili, Abulikemu, Li, Siyan, Liu, Changliu · 1 citation
    #FOS: Computer and information sciences #Robotics (cs.RO)
  27. Safe Adaptation with Multiplicative Uncertainties Using Robust Safe Set Algorithm
    2019/12/19 by Charles Noren, Weiye Zhao, Noren, Charles +3 · 1 citation
    Engineering · #Fault Detection and Control Systems #Systems Engineering Methodologies and Applications #Safety Systems Engineering in Autonomy
  28. Steering Dialogue Dynamics for Robustness against Multi-turn Jailbreaking Attacks
    2025/02/28 by Hanjiang Hu, Alexander Robey, Hu, Hanjiang +3 · 4 citations
    Psychology · #Computation and Language (cs.CL) #Cryptography and Security (cs.CR) #FOS: Computer and information sciences #Machine Learning (cs.LG) #Social Robot Interaction and HRI
  29. Distributed Motion Coordination Using Convex Feasible Set Based Model Predictive Control
    2021/01/20 by Zhou, Hongyu, Liu, Changliu · 1 citation
    #FOS: Computer and information sciences #Robotics (cs.RO)
  30. Online Verification of Deep Neural Networks under Domain Shift or Network Updates
    2021/06/24 by Wei, Tianhao, Liu, Changliu · 1 citation
    #Artificial Intelligence (cs.AI) #FOS: Computer and information sciences #Machine Learning (cs.LG)
  31. APEX-MR: Multi-Robot Asynchronous Planning and Execution for Cooperative Assembly
    2025/03/20 by Huang, Philip, Liu, Ruixuan, Aggarwal, Shobhit +2 · 4 citations
    #FOS: Computer and information sciences #Robotics (cs.RO)
  32. Learn Zero-Constraint-Violation Policy in Model-Free Constrained Reinforcement Learning
    2021/11/25 by Ma, Haitong, Liu, Changliu, Li, Shengbo Eben +3 · 1 citation
    #Artificial Intelligence (cs.AI) #FOS: Computer and information sciences #FOS: Electrical engineering #Machine Learning (cs.LG) #Robotics (cs.RO) #Systems and Control (eess.SY) #electronic engineering #information engineering
  33. Scalable Synthesis of Formally Verified Neural Value Function for Hamilton-Jacobi Reachability Analysis
    2024/07/30 by Yujie Yang, Yang, Yujie, Hanjiang Hu +7 · 2 citations
    Computer Science · #Neural Networks and Applications
  34. Transferable and Adaptable Driving Behavior Prediction
    2022/02/10 by Letian Wang, Yeping Hu, Wang, Letian +9 · 1 citation
    Engineering · #Artificial Intelligence (cs.AI) #Autonomous Vehicle Technology and Safety #FOS: Computer and information sciences #Robotics (cs.RO) #Traffic Prediction and Management Techniques #Traffic and Road Safety
  35. Efficient Game-Theoretic Planning with Prediction Heuristic for Socially-Compliant Autonomous Driving
    2022/07/08 by Li, Chenran, Trinh, Tu, Wang, Letian +3 · 1 citation
    #FOS: Computer and information sciences #Robotics (cs.RO)
  36. BioSLAM: A Bio-inspired Lifelong Memory System for General Place Recognition
    2022/08/30 by Yin, Peng, Abuduweili, Abulikemu, Zhao, Shiqi +2 · 1 citation
    #Computer Vision and Pattern Recognition (cs.CV) #FOS: Computer and information sciences #Machine Learning (cs.LG) #Robotics (cs.RO)
  37. Safety Index Synthesis via Sum-of-Squares Programming
    2022/09/19 by Zhao, Weiye, He, Tairan, Wei, Tianhao +2 · 1 citation
    #FOS: Computer and information sciences #Robotics (cs.RO)
  38. Probabilistic Safeguard for Reinforcement Learning Using Safety Index Guided Gaussian Process Models
    2022/10/03 by Zhao, Weiye, He, Tairan, Liu, Changliu · 1 citation
    #FOS: Computer and information sciences #Robotics (cs.RO)
  39. Hierarchical Temporal Logic Task and Motion Planning for Multi-Robot Systems
    2025/04/26 by Zhongqi Wei, Wei, Zhongqi, Xusheng Luo +3 · 3 citations
    Computer Science · #AI-based Problem Solving and Planning #FOS: Computer and information sciences #Formal Methods in Verification #Robotic Path Planning Algorithms #Robotics (cs.RO)
  40. Simultaneous Task Allocation and Planning for Multi-Robots under Hierarchical Temporal Logic Specifications
    2024/01/08 by Luo, Xusheng, Liu, Changliu · 1 citation
    #Artificial Intelligence (cs.AI) #FOS: Computer and information sciences #Formal Languages and Automata Theory (cs.FL) #Robotics (cs.RO)
  41. Enhancing Sample Generation of Diffusion Models using Noise Level Correction
    2024/12/07 by Abuduweili, Abulikemu, Yuan, Chenyang, Liu, Changliu +1 · 2 citations
    #Computer Vision and Pattern Recognition (cs.CV) #FOS: Computer and information sciences #FOS: Electrical engineering #Image and Video Processing (eess.IV) #Machine Learning (cs.LG) #electronic engineering #information engineering
  42. Towards Proactive Safe Human-Robot Collaborations via Data-Efficient Conditional Behavior Prediction
    2023/11/20 by Ravi Pandya, Zhuoyuan Wang, Pandya, Ravi +5 · 1 citation
    Engineering · Health Professions · Psychology · #FOS: Computer and information sciences #Human-Automation Interaction and Safety #Occupational Health and Safety Research #Robot Manipulation and Learning #Robotics (cs.RO)
  43. Learning Predictive Safety Filter via Decomposition of Robust Invariant Set
    2023/11/12 by Zeyang Li, Chuxiong Hu, Li, Zeyang +5 · 1 citation
    Engineering · #Advanced Control Systems Optimization #Fuel Cells and Related Materials
  44. The Fourth International Verification of Neural Networks Competition (VNN-COMP 2023): Summary and Results
    2023/12/28 by Brix, Christopher, Bak, Stanley, Liu, Changliu +1 · 1 citation
    #Artificial Intelligence (cs.AI) #FOS: Computer and information sciences #Machine Learning (cs.LG) #Software Engineering (cs.SE)
  45. Efficient Reinforcement Learning of Task Planners for Robotic Palletization through Iterative Action Masking Learning
    2024/04/07 by Zheng Wu, Wu, Zheng, Yichuan Li +9 · 1 citation
    Engineering · Medicine · #FOS: Computer and information sciences #Muscle activation and electromyography studies #Robot Manipulation and Learning #Robotics (cs.RO) #Stroke Rehabilitation and Recovery
  46. SPARK: A Modular Benchmark for Humanoid Robot Safety
    2025/02/05 by Sun, Yifan, Chen, Rui, Yun, Kai S. +6 · 2 citations
    #FOS: Computer and information sciences #FOS: Electrical engineering #Robotics (cs.RO) #Systems and Control (eess.SY) #electronic engineering #information engineering
  47. Meta-Control: Automatic Model-based Control Synthesis for Heterogeneous Robot Skills
    2024/05/18 by Tianhao Wei, Liqian Ma, Wei, Tianhao +7 · 1 citation
    Engineering · Computer Science · #Advanced Control Systems Optimization #Modeling and Simulation Systems
  48. Robots that Learn to Safely Influence via Prediction-Informed Reach-Avoid Dynamic Games
    2024/09/18 by Pandya, Ravi, Liu, Changliu, Bajcsy, Andrea · 1 citation
    #FOS: Computer and information sciences #Robotics (cs.RO)
  49. Safe Hierarchical Navigation in Crowded Dynamic Uncertain Environments
    2023/03/24 by Chen, Hongyi, Feng, Shiyu, Zhao, Ye +2 · 1 citation
    #FOS: Computer and information sciences #FOS: Electrical engineering #Robotics (cs.RO) #Systems and Control (eess.SY) #electronic engineering #information engineering
  50. Continual Learning and Lifting of Koopman Dynamics for Linear Control of Legged Robots
    2024/11/21 by Feihan Li, Li, Feihan, Abulikemu Abuduweili +9 · 1 citation
    Engineering · Physics and Astronomy · #FOS: Computer and information sciences #Model Reduction and Neural Networks #Robot Manipulation and Learning #Robotic Locomotion and Control #Robotics (cs.RO)
  51. Estimating Neural Network Robustness via Lipschitz Constant and Architecture Sensitivity
    2024/10/30 by Abuduweili, Abulikemu, Liu, Changliu · 1 citation
    #Artificial Intelligence (cs.AI) #FOS: Computer and information sciences #Machine Learning (cs.LG) #Robotics (cs.RO)
  52. Safe Control of Quadruped in Varying Dynamics via Safety Index Adaptation
    2024/09/15 by Yun, Kai S., Chen, Rui, Dunaway, Chase +2 · 1 citation
    #FOS: Computer and information sciences #FOS: Electrical engineering #Robotics (cs.RO) #Systems and Control (eess.SY) #electronic engineering #information engineering
  53. Physics-Aware Combinatorial Assembly Sequence Planning using Data-free Action Masking
    2024/08/19 by Ruixuan Liu, Alan Chen, Liu, Ruixuan +5 · 1 citation
    Computer Science · Engineering · #Additive Manufacturing and 3D Printing Technologies #FOS: Computer and information sciences #Image Processing and 3D Reconstruction #Machine Learning (cs.LG) #Manufacturing Process and Optimization #Robotics (cs.RO)
  54. VIRAL: Visual Sim-to-Real at Scale for Humanoid Loco-Manipulation
    2025/11/19 by He, Tairan, Wang, Zi, Xue, Haoru +11 · 1 citation
    Engineering · Psychology · #FOS: Computer and information sciences #Robot Manipulation and Learning #Robotic Locomotion and Control #Robotics (cs.RO) #Social Robot Interaction and HRI
  55. ModelVerification.jl: a Comprehensive Toolbox for Formally Verifying Deep Neural Networks
    2024/06/30 by Wei, Tianhao, Hu, Hanjiang, Marzari, Luca +4 · 1 citation
    #FOS: Computer and information sciences #Machine Learning (cs.LG) #Software Engineering (cs.SE)