Lawrence Yunliang Chen

I am a 4th year PhD student at UC Berkeley, advised by Professor Ken Goldberg. My research interest lies in the intersection of Robotics and Machine Learning. I am a member of the AUTOLAB, which is part of the Berkeley Artificial Intelligence Research (BAIR) Lab. I am supported by the NSF Graduate Research Fellowship. I did my undergraduate at UCLA with double majors in Applied Math and Statistics, where I was advised by Professor Jungseock Joo.

Email  /  CV  /  Google Scholar  /  LinkedIn  /  Twitter

profile photo

I'm broadly interested in robot learning, manipulation, and perception. Here are some of my research papers. Please feel free to reach out!

Language Embedded Radiance Fields for Zero-Shot Task-Oriented Grasping>
Adam Rashid*, Satvik Sharma*, Chung Min Kim, Justin Kerr, Lawrence Yunliang Chen, Angjoo Kanazawa, Ken Goldberg
Conference on Robot Learning (CoRL), 2023   (Oral Presentation, 6.6%)
PDF / Website /

Given a natural language query, uses LERF based on CLIP and DINO features to perform zero-shot semantic grasping of object parts.

Bagging by Learning to Singulate Layers Using Interactive Perception
Lawrence Yunliang Chen, Baiyu Shi, Roy Lin, Daniel Seita, Ayah Ahmad, Richard Cheng, Thomas Kollar, David Held, Ken Goldberg
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2023
PDF / Website

An algorithm for grasping a single layer of plastic bags and fabrics using purely visual feedback, and a much-improved bagging algorithm.

AutoBag: Learning to Open Plastic Bags and Insert Objects
Lawrence Yunliang Chen, Baiyu Shi, Daniel Seita, Richard Cheng, Thomas Kollar, Ken Goldberg
IEEE International Conference on Robotics and Automation (ICRA), 2023
PDF / Website

A semantic representation of plastic bags and an algorithm for a bimanual robot to open a plastic bag from unstructured configurations, to insert object(s) into it, and then to lift the bag.

Fleet-DAgger: Interactive Robot Fleet Learning with Scalable Human Supervision
Ryan Hoque, Lawrence Yunliang Chen, Satvik Sharma, Karthik Dharmarajan, Brijen Thananjeyan, Pieter Abbeel, Ken Goldberg
Conference on Robot Learning (CoRL), 2022   (Oral Presentation, 6.5%)
PDF / Website / Code

A formalism, several new algorithms, and a benchmark for interactive fleet learning: interactive learning with multiple robots and multiple humans.

Efficiently Learning Single-Arm Fling Motions to Smooth Garments
Lawrence Yunliang Chen*, Huang Huang*, Ellen Novoseller, Daniel Seita, Jeffrey Ichnowski, Michael Laskey, Richard Cheng, Thomas Kollar, Ken Goldberg
The International Symposium on Robotics Research (ISRR), 2022
PDF / Website

Given a new garment, quickly learn a fling action that can effectively smooth the garment with only one robot arm.

Optimal Shelf Arrangement to Minimize Robot Retrieval Time
Lawrence Yunliang Chen, Huang Huang, Michael Danielczuk, Jeffrey Ichnowski, Ken Goldberg
IEEE International Conference on Automation Science and Engineering (CASE), 2022   (Best Student Paper Finalist)
PDF / Website

Optimize the arrangement of objects on a shelf to make them easier to retrieve and search.

Real2Sim2Real: Self-Supervised Learning of Physical Single-Step Dynamic Actions for Planar Robot Casting
Vincent Lim*, Huang Huang*, Lawrence Yunliang Chen, Jonathan Wang, Jeffrey Ichnowski, Daniel Seita, Michael Laskey, Ken Goldberg
IEEE International Conference on Robotics and Automation (ICRA), 2022
PDF / Website / Video / Press

Using Real2Sim2Real to learn to manipulate a free-end cable so that the endpoint can accurately reach desired target positions on a planar surface.

A Multi-Chamber Smart Suction Cup for Adaptive Gripping and Haptic Exploration
Tae Myung Huh, Kate Sanders, Michael Danielczuk, Monica Li, Yunliang Chen, Ken Goldberg, Hannah S. Stuart
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021
PDF / Video

A new suction cup design that contains multiple chambers for gripping and haptic exploration.

Understanding and Mitigating Annotation Bias in Facial Expression Recognition
Yunliang Chen, Jungseock Joo
IEEE/CVF International Conference on Computer Vision (ICCV), 2021
PDF (with appendix) / Code

Analysis of annotation bias for many large public facial expression recognition datasets.

Class Projects

Anki Overdrive: Static Obstacle Detection and Avoidance
Lawrence Yunliang Chen, Massimiliano de Sa, Satvik Sharma, Vainavi Viswanathg
Project advisor and sponsor: Jun Zeng
Website / Code

Berkeley EECS C106A/206A (Introduction to Robotics) Final Project

Graduate Student Instructor, IEOR 215: Analysis and Design of Databases, Spring 2022

Website template from Jon Barron