Research
Preprints
[P1] DROP: Dexterous Reorientation via Online Planning (ICRA 2025)
Albert Hao Li, Preston Culbertson, Vince Kurtz, Aaron D. Ames
(Best Paper Award at CoRL 2024 Workshop on Learning Robot Fine and Dexterous Manipulation)
[Paper] [Website][P2] Robust Adaptive Safe Robotic Grasping with Tactile Sensing (ECC 2025)
Yitaek Kim, Jeeseop Kim, Albert Hao Li, Aaron D. Ames, Christoffer Sloth
[Paper]
Conference Publications
[C6] Get a Grip: Multi-Finger Grasp Evaluation at Scale Enables Robust Sim-to-Real Transfer (CoRL 2024)
Tyler Ga Wei Lum*, Albert Hao Li*, Preston Culbertson, Krishnan Srinivasan, Aaron D. Ames, Mac Schwager, Jeannette Bohg
* Equal Contribution
[Paper] [Website] [Code & Dataset] [Dataset Visualizer][C5] Toward An Analytic Theory of Intrinsic Robustness for Dexterous Grasping (IROS 2024)
(Formerly "PONG: Probabilistic Object Normals for Grasping via Analytic Bounds on Force Closure Probability")
Albert Hao Li, Preston Culbertson, Aaron Ames
[Paper][C4] FRoGGeR: Fast Robust Grasp Generation via the Min-Weight Metric (IROS 2023)
Albert Hao Li, Preston Culbertson, Joel W. Burdick, Aaron Ames
[Paper] [Code][C3] Replay Overshooting: Learning Stochastic Latent Dynamics with the Extended Kalman Filter (ICRA 2021)
Albert Hao Li*, Philipp Wu*, Monroe Kennedy III
* Equal Contribution
[Paper] [Video] [Code][C2] Ball Juggling on the Bipedal Robot Cassie (ECC 2020)
Katherine Lin Poggensee*, Albert Hao Li*, Daniel Sotsaikich*, Bike Zhang, Prasanth Kotaru, Mark Mueller, and Koushil Sreenath
* Equal Contribution
[Paper] [Video] [Media][C1] Dex-Net 3.0: Computing Robust Vacuum Suction Grasp Targets in Point Clouds Using a New Analytic Model and Deep Learning (ICRA 2018)
Jeffrey Mahler, Matthew Matl, Xinyi Liu, Albert Hao Li, David Gealy, Ken Goldberg
[Paper] [Video] [Code]