Weiyu Liu

I am a Postdoctoral Scholar working with Jiajun Wu in the CogAI group and Stanford Vision and Learning Lab (SVL). I completed my Ph.D. in robotics at Georgia Institute of Technology, where I am advised by Sonia Chernova. In 2021 and 2022, I interned at Nvidia Research, working with Dieter Fox, Tucker Hermans, Animesh Garg, and Chris Paxton. Prior to joining the Ph.D. program, I received my Bachelor’s degree in Electrical Engineering from Georgia Tech.

The goal of my research is to develop robots that can effectively perceive, model, and interact with the real world. I am particularly interested in the application where human users can easily command robots to complete long-horizon tasks via simple language commands, such as "make the tea". Achieving this requires robust generalization across various dimensions, including objects, environments, actions, and tasks. My core insight is that strong generalization can be achieved through a structured representation of world knowledge. Rather than constructing this representation from scratch, robots should leverage the rich knowledge embedded in human language, grounding it through interactions with their environments to connect abstract knowledge to their sensorimotor capabilities.

My prior research has investigated core components of this structured knowledge representation, methods to extract and refine this knowledge extracted from humans, and algorithms that enable reasoning with this knowledge to support broad generalization.

Email / CV (Dec 2024) / Research Statement (2022)
Google Scholar / Github / Twitter

	Learning Compositional Behaviors from Demonstration and Language Weiyu Liu, Neil Nie, Ruohan Zhang, Jiayuan Mao^†, Jiajun Wu^† Conference on Robot Learning (CoRL), 2024 2nd Workshop on Learning Effective Abstractions for Planning (LEAP), 2024 (Oral Presentation) paper / website / bibtex
	Learning Planning Abstractions from Language Weiyu Liu, Geng Chen, Joy Hsu, Jiayuan Mao^†, Jiajun Wu^† International Conference on Learning Representations (ICLR), 2024 arxiv / website / bibtex
	IKEA Manuals at Work: 4D Grounding of Assembly Instructions on Internet Videos Yunong Liu, Cristobal Eyzaguirre, Manling Li, Shubh Khanna, Juan Carlos Niebles, Vineeth Ravi, Saumitra Mishra, Weiyu Liu^†, Jiajun Wu^† Neural Information Processing Systems (NeurIPS) Datasets and Benchmarks Track, 2024 paper / website / code and data / bibtex
	Naturally Supervised 3D Visual Grounding with Language-Regularized Concept Learners Chun Feng, Joy Hsu, Weiyu Liu, Jiajun Wu IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), 2024 paper / website / code bibtex
	Embodied Agent Interface: Benchmarking LLMs for Embodied Decision Making Manling Li, Shiyu Zhao, Qineng Wang, Kangrui Wang, Yu Zhou, Sanjana Srivastava, Cem Gokmen, Tony Lee, Li Erran Li, Ruohan Zhang, Weiyu Liu, Percy Liang, Li Fei-Fei, Jiayuan Mao, Jiajun Wu Neural Information Processing Systems (NeurIPS) Datasets and Benchmarks Track, 2024 (Oral Presentation)* paper / website / code / bibtex
	MARPLE: A Benchmark for Long-Horizon Inference Emily Jin, Zhuoyi Huang, Jan-Philipp Fränken, Weiyu Liu, Hannah Cha, Sarah A. Wu, Erik Brockbank, Ruohan Zhang, Jiajun Wu, Tobias Gerstenberg Neural Information Processing Systems (NeurIPS) Datasets and Benchmarks Track, 2024 arxiv / website / code and data / bibtex
	Composable Part-Based Manipulation Weiyu Liu, Jiayuan Mao, Joy Hsu, Tucker Hermans, Animesh Garg, Jiajun Wu Conference on Robot Learning (CoRL), 2023 arxiv / website / bibtex
	StructDiffusion: Language-Guided Creation of Physically-Valid Structures using Unseen Objects Weiyu Liu, Yilun Du, Tucker Hermans, Sonia Chernova, Chris Paxton Robotics: Science and Systems (RSS), 2023 CoRL Workshop on Language and Robot Learning, 2022 arxiv / code & data / website / bibtex
	A Survey of Semantic Reasoning Frameworks for Robotic Systems Weiyu Liu¹, Angel Daruna¹, Maithili Patel², Kartik Ramachandruni², Sonia Chernova Robotics and Autonomous Systems, 2023 paper / bibtex
	Latent Space Planning for Multi-Object Manipulation with Environment-Aware Relational Classifiers Yixuan Huang, Nichols Crawford Taylor, Adam Conkey, Weiyu Liu, Tucker Hermans, Transactions on Robotics (TR-O), 2023 arxiv / website / bibtex
	GraspGPT: Leveraging Semantic Knowledge from a Large Language Model for Task-Oriented Grasping Chao Tang, Dehao Huang Wenqi Ge, Weiyu Liu, Hong Zhang Robotics and Automation Letters (RA-L), 2023 arxiv / code & data / website / bibtex
	StructFormer: Learning Spatial Structure for Language-Guided Semantic Rearrangement of Novel Objects Weiyu Liu, Chris Paxton, Tucker Hermans, Dieter Fox International Conference on Robotics and Automation (ICRA), 2022 arxiv / code & data / website / talk / bibtex
	Learning Instance-Level N-Ary Semantic Knowledge At Scale For Robots Operating in Everyday Environments Weiyu Liu, Dhruva Bansal, Angel Daruna, Sonia Chernova Robotics: Science and Systems (RSS), 2021 Autonomous Robots, 2023 (Invited Submission) paper / journal (extended version) / code & data / talk / bibtex
	Towards Robust One-shot Task Execution using Knowledge Graph Embeddings Angel Daruna, Lakshmi Nair, Weiyu Liu, Sonia Chernova International Conference on Robotics and Automation (ICRA), 2021 arxiv / bibtex
	An Affordance Keypoint Detection Network for Robot Manipulation Ruinian Xu, Fu-Jen Chu, Chao Tang, Weiyu Liu, Patricio Vela IEEE Robotics and Automation Letters (RA-L), 2021 paper / code & data / bibtex
	Same Object, Different Grasps: Data and Semantic Knowledge for Task-Oriented Grasping Adithya Murali, Weiyu Liu, Kenneth Marino, Sonia Chernova, Abhinav Gupta Conference on Robot Learning (CoRL), 2020 arxiv / code & data / video / talk / project page / bibtex
	CAGE: Context-Aware Grasping Engine Weiyu Liu, Angel Daruna, Sonia Chernova International Conference on Robotics and Automation (ICRA), 2020 arxiv / code & data / video / press / bibtex
	Path Ranking with Attention to Type Hierarchies Weiyu Liu, Angel Daruna, Zsolt Kira, Sonia Chernova Conference on Artificial Intelligence (AAAI), 2020 (Oral Presentation) arxiv / code / bibtex
	Taking Recoveries to Task: Recovery-Driven Development for Recipe-based Robot Tasks Siddhartha Banerjee, Angel Daruna, David Kent, Weiyu Liu, Jonathan Balloch, Abhinav Jain, Akshay Krishnan, Muhammad Asif Rana, Harish Ravichandar, Binit Shah, Nithin Shrivatsav, Sonia Chernova International Symposium on Robotics Research (ISRR), 2019 paper / code / bibtex
	RoboCSE: Robot Common Sense Embedding Angel Daruna, Weiyu Liu, Zsolt Kira, Sonia Chernova International Conference on Robotics and Automation (ICRA), 2019 arxiv / code & data / video / bibtex
	Autonomous flying blimp interaction with human in an indoor space Ningshi Yao, Qiuyang Tao, Weiyu Liu, Zhen Liu, Ye Tian, Peiyu Wang, Timothy Li, Fumin Zhang, Frontiers of Information Technology & Electronic Engineering, 2019 paper / bibtex
	SiRoK: Situated Robot Knowledge - Understanding the Balance Between Situated Knowledge and Variability Sonia Chernova, Vivian Chu, Angel Daruna, Haley Garrison, Meera Hahn, Priyanka Khante, Weiyu Liu, Andrea Thomaz, AAAI Spring Symposium Series (AAAI-SSS), 2018 paper / bibtex
	Situated Bayesian Reasoning Framework for Robots Operating in Diverse Everyday Environments Sonia Chernova, Vivian Chu, Angel Daruna, Haley Garrison, Meera Hahn, Priyanka Khante, Weiyu Liu, Andrea Thomaz, International Symposium on Robotics Research (ISRR), 2017 paper / bibtex

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