Fangchen Liu
I am a final-year Ph.D. at UC Berkeley advised by Prof. Pieter Abbeel. Prior to that, I obtained my M.S. from UC San Diego working with Prof. Hao Su, and B.S. from Peking University. I work on learning-based methods for general-purpose robots.
Email | Google Scholar | GitHub | CV | Twitter
Research
* indicates equal contribution
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ViTaMIn: Learning Contact-Rich Tasks Through Portable Visuotactile Manipulation Interface
Fangchen Liu*, Chuanyu Li*, Yihua Qin, Ankit Shaw, Jing Xu, Pieter Abbeel, Rui Chen
Preprint
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OTTER: A Vision-Language-Action Model with Text-Aware Visual Feature Extraction
Huang Huang*, Fangchen Liu*, Letian Fu*, Tingfan Wu, Mustafa Mukadam, Jitendra Malik, Ken Goldberg, Pieter Abbeel
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ExBody2: Advanced Expressive Humanoid Whole-Body Control
Mazeyu Ji*, Xuanbin Peng*, Fangchen Liu, Jialong Li, Ge Yang, Xuxin Cheng, Xiaolong Wang
Preprint
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Video2Policy: Scaling up Manipulation Tasks in Simulation through Internet Videos
Weirui Ye, Fangchen Liu, Zheng Ding, Yang Gao, Oleh Rybkin, Pieter Abbeel
Preprint
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In-context Imitation Learning via Next-token Prediction
Letian Fu*, Huang Huang*, Gaurav Datta*, Lawrence Yunliang Chen, William Chung-Ho Panitch, Fangchen Liu, Hui Li, Ken Goldberg
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Body transformer: Leveraging Robot Embodiment for Policy Learning
Carmelo Sferrazza, Dun-Ming Huang, Fangchen Liu, Jongmin Lee, Pieter Abbeel
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MOKA: Open-Vocabulary Robotic Manipulation through Mark-based Visual Prompting
Fangchen Liu*, Kuan Fang*, Pieter Abbeel, Sergey Levine
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Chain-of-Thought Predictive Control
Zhiwei Jia, Fangchen Liu, Vineet Thumuiluri, Linghao Chen, Zhiao Huang, Hao Su
ICML 2024
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FMB: a Functional Manipulation Benchmark for Generalizable Robotic Learning
Jianlan Luo*, Charles Xu*, Fangchen Liu, Liam Tan, Zipeng Lin, Jeffrey Wu, Pieter Abbeel, Sergey Levine
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SpawnNet: Learning Generalizable Visuomotor Skills from Pre-trained Networks
Xingyu Lin, John So, Sashwat Mahalingam, Fangchen Liu, Pieter Abbeel
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Open X-Embodiment: Robotic Learning Datasets and RT-X Models
Open X-Embodiment Collaboration
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The Wisdom of Hindsight Makes Language Models Better Instruction Followers
Tianjun Zhang*, Fangchen Liu*,
Justin Wong, Pieter Abbeel, Joseph E. Gonzalez.
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Masked Autoencoding for Scalable and Generalizable Decision Making
Fangchen Liu*,
Hao Liu*, Aditya Grover, Pieter Abbeel.
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Towards More Generalizable One-shot Visual Imitation Learning
Fangchen Liu*,
Zhao Mandi*,
Kimin Lee, Pieter Abbeel.
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Masked World Models for Visual Control
Younggyo Seo, Danijar Hafner, Hao Liu,
Fangchen Liu,
Stephen James, Kimin Lee, Pieter Abbeel.
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State Alignment-based Imitation Learning
Fangchen Liu,
Zhan Ling,
Tongzhou Mu,
Hao Su
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Mapping State Space using Landmarks for Universal Goal Reaching
Zhiao Huang*,
Fangchen Liu*,
Hao Su
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SAPIEN: a SimulAted Part-based Interactive ENvironment
Fanbo Xiang, Yuzhe Qin, Kaichun Mo, Yikuan Xia, Hao Zhu,
Fangchen Liu,
Minghua Liu, Hanxiao Jiang, Yifu Yuan, Li Yi, He Wang, Angel Chang, Leonidas Guibas, Hao Su.
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Education
University of California, Berkeley
Aug. 2020 - PresentPh.D. in Computer Science
University of California, San Diego
Sep. 2018 - Mar. 2020M.S. in Computer Science
Peking University
Sep. 2014 - Jul. 2018B.S. in Computer Science (Summa Cum Laude)
Teaching
CS 188: Introduction to Artificial Intelligence Fall 2024, UC BerkeleyCS 203B: Convex Optimization Winter 2020, UC San Diego
CS 152A: Introduction to Computer Vision Fall 2019, UC San Diego
Service
Conference reviewer: NeurIPS, ICML, ICLR, CVPR, ICCV, ECCV, RSS, CoRL, IROS, ICRA, L4DCJournel reviewer: RA-L, IJRR, TMLR, JMLR