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.
My goal is to develop robots that can effectively perceive, model, and interact with objects in the real world. Towards this goal, I study the representation and reasoning of semantic knowledge, which can concisely describe target domains with symbols and reveal meaningful patterns shared between problems and environments (e.g., clean cups are likely to be found in kitchen cabinets) . My research develops semantic reasoning frameworks capable of modeling complex semantic knowledge grounded in robot perception and action.
Email  / 
CV (Sep 2023)  / 
Research Statement (2022)
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Composable Part-Based Manipulation
Weiyu Liu ,
Jiayuan Mao ,
Joy Hsu ,
Tucker Hermans ,
Animesh Garg ,
Jiajun Wu
Conference on Robot Learning (CoRL) , 2023
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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
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A Survey of Semantic Reasoning Frameworks for Robotic Systems
Weiyu Liu1 ,
Angel Daruna1 ,
Maithili Patel2 ,
Kartik Ramachandruni2 ,
Sonia Chernova
Robotics and Autonomous Systems , 2023
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Latent Space Planning for Multi-Object Manipulation with Environment-Aware Relational Classifiers
Yixuan Huang ,
Nichols Crawford Taylor ,
Adam Conkey ,
Weiyu Liu ,
Tucker Hermans ,
Under Review , 2023
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GraspGPT: Leveraging Semantic Knowledge from a Large Language Model for Task-Oriented Grasping
Chao Tang ,
Dehao Huang
Wenqi Ge,
Weiyu Liu ,
Hong Zhang
Under Review , 2023
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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
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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
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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
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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
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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
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CAGE: Context-Aware Grasping Engine
Weiyu Liu ,
Angel Daruna ,
Sonia Chernova
International Conference on Robotics and Automation (ICRA) , 2020
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Path Ranking with Attention to Type Hierarchies
Weiyu Liu ,
Angel Daruna ,
Zsolt Kira ,
Sonia Chernova
Conference on Artificial Intelligence (AAAI) , 2020   (Oral Presentation)
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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
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RoboCSE: Robot Common Sense Embedding
Angel Daruna ,
Weiyu Liu ,
Zsolt Kira ,
Sonia Chernova
International Conference on Robotics and Automation (ICRA) , 2019
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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
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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
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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
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