Research

Preprints

• [P1] PONG: Probabilistic Object Normals for Grasping via Analytic Bounds on Force Closure Probability (2023)
  Albert Hao Li, Preston Culbertson, Aaron Ames
  [Paper] [Code (under construction)]

Journal Publications

• [J1] Inverse Statics Optimization for Compound Tensegrity Robots (2020)
  Andrew Preston Sabelhaus, Albert Hao Li, Kimberley Sover, Jacob Madden, Andrew Barkan, Adrian Agogino, Alice Agogino
  [Paper] [Code]

Conference Publications

• [C4] FRoGGeR: Fast Robust Grasp Generation via the Min-Weight Metric (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 (2021)
  Albert Hao Li*, Philipp Wu*, Monroe Kennedy III
  * Equal Contribution
  [Paper] [Video] [Code]

• [C2] Ball Juggling on the Bipedal Robot Cassie (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 (2018)
  Jeffrey Mahler, Matthew Matl, Xinyi Liu, Albert Hao Li, David Gealy, Ken Goldberg
  [Paper] [Video] [Code]