Dr. Liangjun Zhang's R&D experience spans autonomous driving, LLM+Robotics and construction robotics. My innovative contributions encompass areas such as LLM, NeRF, 3D object detection, SLAM, IL/RL, motion planning, geometric computing, control, and system integration.

The following is a list of selected projects. You can check full list of publications using:

Google Scholar

LLM + Robotics

Reasoning Grasping via Multimodal Large Language Model

Shiyu Jin, Jinxuan Xu, Yutian Lei, Liangjun Zhang
Under review, 2024
Paper

RLingua: Improving Reinforcement Learning Sample Efficiency in Robotic Manipulations with Large Language Models

Liangliang Chen, Yutian Lei, Shiyu Jin, Ying Zhang, Liangjun Zhang
Under review, 2024
Paper

RT-Grasp: Reasoning Tuning Robotic Grasping via Multi-modal Large Language Model

Jinxuan Xu, Shiyu Jin, Yutian Lei, Yuqian Zhang, Liangjun Zhang
Workshop in CoRL 2023
Paper

Transformer-Based 3D Object Manipulation using Virtual In-Hand Views

Weiyao Wang, Yutian Lei, Shiyu Jin, Gregory D. Hager, Liangjun Zhang
Workshop in CoRL 2023
Paper • Code

Construction Robotics

Autonomous Excavator System for Construction Earth Moving

Shiyu Jin, Liuwang Kang, Yuan-Chih Peng, Zhenpeng He, Ruitao Song, Lingfeng Qian, Liangjun Zhang
Workshop in ICRA 2023, Workshop in RSS 2023
Paper • Video

Robotic Excavation of Rigid Objects using Offline Reinforcement Learning

Shiyu Jin, Zhixian Ye, Liangjun Zhang
Techincal Report, 2023
Paper

TNS: Autonomous Excavators Navigation Thumbnail TNS: Terrain Traversability Mapping and Navigation System for Autonomous Excavators • Video

Tianrui Guan, Zhenpeng He, Ruitao Song, Dinesh Manocha, Liangjun Zhang
Robotics: Science and Systems (RSS) 2022
Extended work also appeared in Autonomous Robots
Paper • Project Webpage

An Autonomous Excavator System for Material Loading Tasks

Liangjun Zhang, Jinxin Zhao, Pinxin Long, Liyang Wang, Lingfeng Qian, Feixian Lu, Xibin Song, Dinesh Manocha
Science Robotics, Vol. 6, Issue 55, 2021
News Release • Video • Paper

Autonomous Driving: Perception, Behavior and Simulation

LiDAR-CS Dataset: LiDAR Point Cloud Dataset with Cross-Sensors for 3D Object Detection

Jin Fang, Dingfu Zhou, Jingjing Zhao, Chenming Wu, Chulin Tang, Cheng-Zhong Xu, Liangjun Zhang
IEEE International Conference on Robotics and Automation (ICRA), 2024
Paper

HMSim: A Hierarchical Multi-Agent Learning-Based Simulator For Autonomous Vehicles

Haolan Liu, Jishen Zhao, Liangjun Zhang
Arxiv Preprint, 2024
Paper

MapNeRF: Incorporating Map Priors into Neural Radiance Fields for Driving View Simulation

Chenming Wu, Jiadai Sun, Zhelun Shen, and Liangjun Zhang
IEEE International Conference on Intelligent Robots and Systems (IROS), 2023
Paper • video

DGNR: Density-Guided Neural Point Rendering of Large Driving Scenes

Zhuopeng Li, Chenming Wu, Liangjun Zhang, Jianke Zhu
Arxiv Preprint, 2023
Paper

NeuS-PIR: Learning Relightable Neural Surface using Pre-Integrated Rendering

Shi Mao, Chenming Wu, Zhelun Shen, Yifan Wang, Dayan Wu, Liangjun Zhang
Arxiv Preprint, 2023
Paper • code

Digging into Depth Priors for Outdoor Neural Radiance Fields

Chen Wang, Jiadai Sun, Lina Liu, Chenming Wu, Zhelun Shen, Dayan Wu, Yuchao Dai, Liangjun Zhang
ACM International Conference on Multimedia (MM, Oral), 2023
Paper

Motion Planning and Geometric Computing

Selective retraction-based RRT planner Thumbnail Selective retraction-based RRT planner for various environments

Junghwan Lee, Osung Kwon, Liangjun Zhang, Sung-eui Yoon
IEEE Transactions on Robotics (T-RO), 2014
Paper

Protein Folding under Constraints Thumbnail Sampling-based Exploration of Folded State of a Protein Under Kinematic and Geometric Constraints

Peggy Yao, Liangjun Zhang, Jean-Claude Latombe
Proteins: Structure, Function, and Bioinformatics
Paper

Path Smoothing in Cluttered Environments Thumbnail Collision-Free and Curvature-Continuous Path Smoothing In Cluttered Environments

Jia Pan, Liangjun Zhang, Dinesh Manocha
Robotics: Science and Systems, 2011
PDF • Project Webpage

A Hybrid Approach for Synthesizing Human Motion in Constrained Environments

Jia Pan, Liangjun Zhang, Ming Lin, Dinesh Manocha
The 23rd International Conference on Computer Animation and Social Agents, 2010
Video • Paper

D-Plan: Path Computation for Part Removal and Disassembly Thumbnail D-Plan: Efficient Collision-Free Path Computation For Part Removal and Disassembly

Liangjun Zhang, Xin Huang, Young J. Kim, Dinesh Manocha
International CAD Conference (CAD'08), 2008, Best Paper Award
Journal of Computer-Aided Design and Applications, Volume 5, Issue 6, 2008
Paper • Project Webpage

Efficient Retraction-based RRT Planner Thumbnail An Efficient Retraction-based RRT Planner

Liangjun Zhang, Dinesh Manocha
IEEE International Conference on Robotics and Automation (ICRA), 2008
Paper • Project Webpage