The most accurate list of publications can be found on Google Scholar

Incremental Learning for Robot Shared Autonomy

Yiran Tao, Guixiu Qiao, Dan Ding, Zackory Erickson
International Conference on Intelligent Robots and Systems (IROS), 2025

[Bibtex] [Abstract]

Force-Modulated Visual Policy for Robot-Assisted Dressing with Arm Motions

Alexis Yihong Hao, Yufei Wang, Navin Sriram Ravie, Bharath Hegde, David Held†, Zackory Erickson†
Conference on Robot Learning (CoRL), 2025

[Bibtex] [Abstract]

CoRI: Communication of Robot Intent for Physical Human-Robot Interaction

Junxiang Wang, Emek Barış Küçüktabak, Rana Soltani Zarrin, Zackory Erickson
Conference on Robot Learning (CoRL), 2025

[PDF] [Project Page] [Code] [Bibtex] [Abstract]

Geometric Red-Teaming for Robotic Manipulation

Divyam Goel, Yufei Wang, Tiancheng Wu, Helen Qiao, Pavel Piliptchak, David Held*, Zackory Erickson*
Conference on Robot Learning (CoRL), 2025 Oral Presentation (Selection rate 5.7%)

[PDF] [Bibtex] [Abstract]

High-density electromyography for effective gesture-based control of physically assistive mobile manipulators

Jehan Yang, Kent Shibata, Doug Weber, Zackory Erickson
Nature Partner Journals in Robotics (npj Robotics), 2025

[PDF] [Bibtex] [Abstract]

LAMS: LLM-Driven Automatic Mode Switching for Assistive Teleoperation

Yiran Tao*, Jehan Yang*, Dan Ding, Zackory Erickson
ACM/IEEE International Conference on Human-Robot Interaction (HRI), 2025

[PDF] [Bibtex] [Abstract]

EMGBench: Benchmarking Out-of-Distribution Generalization and Adaptation for Electromyography

Jehan Yang, Maxwell Soh, Vivianna Lieu, Douglas J Weber, Zackory Erickson
Advances in neural information processing systems (NeurIPS), 2024

[PDF] [Bibtex] [Abstract]

Towards an LLM-Based Speech Interface for Robot-Assisted Feeding

Jessie Yuan, Janavi Gupta, Akhil Padmanabha, Zulekha Karachiwalla, Carmel Majidi, Henny Admoni, Zackory Erickson
ACM Symposium on User Interface Software and Technology (UIST) Adjunct, 2024

[PDF] [Bibtex] [Abstract]

VoicePilot: Harnessing LLMs as Speech Interfaces for Physically Assistive Robots

Akhil Padmanabha*, Jessie Yuan*, Janavi Gupta, Zulekha Karachiwalla, Carmel Majidi, Henny Admoni, Zackory Erickson
ACM Symposium on User Interface Software and Technology (UIST), 2024

[PDF] [Bibtex] [Abstract] [In The News]

DiffTORI: Differentiable Trajectory Optimization for Deep Reinforcement and Imitation Learning

Weikang Wan*, Ziyu Wang*, Yufei Wang*, Zackory Erickson, David Held
Advances in neural information processing systems (NeurIPS), 2024 Spotlight Presentation

[PDF] [Bibtex] [Abstract]

RoboGen: Towards Unleashing Infinite Data for Automated Robot Learning via Generative Simulation

Yufei Wang*, Zhou Xian*, Feng Chen*, Tsun-Hsuan Wang, Yian Wang, Katerina Fragkiadaki, Zackory Erickson, David Held, Chuang Gan
International Conference on Machine Learning (ICML), 2024

[PDF] [Project Page] [Code] [Bibtex] [Abstract]

RL-VLM-F: Reinforcement Learning from Vision Language Foundation Model Feedback

Yufei Wang*, Zhanyi Sun*, Jesse Zhang, Zhou Xian, Erdem Bıyık, David Held†, Zackory Erickson†
International Conference on Mahince Learning (ICML), 2024

[PDF] [Project Page] [Code] [Bibtex] [Abstract]

Do Mistakes Matter? Comparing Trust Responses of Different Age Groups to Errors Made by Physically Assistive Robots

Sasha Wald*, Kavya Puthuveetil*, Zackory Erickson
IEEE International Conference on Robot and Human Interactive Communication (ROMAN), 2024

[PDF] [Project Page] [Bibtex] [Abstract] [Video]

Unfolding the literature: A review of robotic cloth manipulation

Alberta Longhini, Yufei Wang, Irene Garcia-Camacho, David Blanco-Mulero, Marco Moletta, Michael Welle, Guillem Alenyà, Hang Yin, Zackory Erickson, David Held, Júlia Borràs, Danica Kragic
Annual Review of Control, Robotics, and Autonomous Systems, 2024

[PDF] [Bibtex] [Abstract]

AdaFold: Adapting Folding Trajectories of Cloths via Feedback-Loop Manipulation

Alberta Longhini, Michael C. Welle, Zackory Erickson, Danica Kragic
IEEE Robotics and Automation Letter (RA-L), 2024

[PDF] [Project Page] [Bibtex] [Abstract]

BodyMAP-Jointly Predicting Body Mesh and 3D Applied Pressure Map for People in Bed

Abhishek Tandon*, Anujraaj Goyal*, Henry M Clever, Zackory Erickson
IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), 2024

[PDF] [Project Page] [Code] [Bibtex] [Abstract] [Video]

Force Constrained Visual Policy: Safe Robot-Assisted Dressing via Multi-Modal Sensing

Zhanyi Sun*, Yufei Wang*, David Held†, Zackory Erickson†
IEEE Robotics and Automation Letter (RA-L), 2024

[PDF] [Project Page] [Bibtex] [Abstract]

Independence in the Home: A Wearable Interface for a Person with Quadriplegia to Teleoperate a Mobile Manipulator

Akhil Padmanabha, Janavi Gupta, Chen Chen, Jehan Yang, Vy Nguyen, Douglas J. Weber, Carmel Majidi, and Zackory Erickson
ACM/IEEE International Conference on Human-Robot Interaction (HRI), 2024 (Best Paper Award in Systems)

[PDF] [Project Page] [Bibtex] [Abstract] [Video] [In The News] [In The News 2]

Quantifying Assistive Robustness Via the Natural-Adversarial Frontier

Jerry Zhi-Yang He, Daniel S. Brown, Zackory Erickson, and Anca Dragan
CoRL, 2023

[PDF] [Bibtex] [Abstract]

A Multimodal Sensing Ring for Quantification of Scratch Intensity

Akhil Padmanabha, Sonal Choudhary, Carmel Majidi*, and Zackory Erickson*
Nature Communications Medicine, 2023

[PDF] [Code] [Bibtex] [Abstract] [In The News] [In The News 2]

Robust Body Exposure (RoBE): A Graph-based Dynamics Modeling Approach to Manipulating Blankets over People

Kavya Puthuveetil, Sasha Wald, Atharva Pusalkar, Pratyusha Karnati, and Zackory Erickson
IEEE Robotics and Automation Letters (RA-L), 2023

[PDF] [Project Page] [Bibtex] [Abstract]

One Policy to Dress Them All: Learning to Dress People with Diverse Poses and Garments

Yufei Wang, Zhanyi Sun, Zackory Erickson*, David Held*
RSS, 2023

[PDF] [Project Page] [Bibtex] [Abstract] [In The News]

HAT: Head-Worn Assistive Teleoperation of Mobile Manipulators

Akhil Padmanabha*, Qin Wang*, Daphne Han, Jashkumar Diyora, Kriti Kacker, Hamza Khalid, Liang-Jung Chen, Carmel Majidi, and Zackory Erickson
ICRA, 2023

[PDF] [Project Page] [Bibtex] [Abstract] [In The News]

SLURP! Spectroscopy of Liquids Using Robot Pre-Touch Sensing

Nathaniel Hanson*, Wesley Lewis*, Kavya Puthuveetil, Donelle Furline Jr, Akhil Padmanabha, Taskin Padir, Zackory Erickson
ICRA, 2023

[PDF] [Project Page] [Code] [Bibtex] [Abstract]

EDO-Net: Learning Elastic Properties of Deformable Objects from Graph Dynamics

Alberta Longhini*, Marco Moletta*, Alfredo Reichlin, Michael C. Welle, David Held, Zackory Erickson, Danica Kragic
ICRA, 2023

[PDF] [Bibtex] [Abstract]

Elastic Context: Encoding Elasticity for Data-driven Models of Textiles

Alberta Longhini, Marco Moletta, Alfredo Reichlin, Michael C. Welle, Alexander Kravberg, Yufei Wang, David Held, Zackory Erickson, Danica Kragic
ICRA, 2023

[PDF] [Bibtex] [Abstract]

A Study of Causal Confusion in Preference-Based Reward Learning

Jeremy Tien, Jerry Zhi-Yang He, Zackory Erickson, Anca D. Dragan, Daniel S. Brown
ICLR, 2023

[PDF] [Project Page] [Code] [Bibtex] [Abstract]

ToolFlowNet: Robotic Manipulation with Tools via Predicting Tool Flow from Point Clouds

Daniel Seita, Yufei Wang, Edward Yao Li, Sarthak J Shetty, Zackory Erickson, and David Held
CoRL, 2022

[PDF] [Project Page] [Bibtex] [Abstract]

Learning Representations that Enable Generalization in Assistive Tasks

Jerry Zhi-Yang He, Zackory Erickson, Daniel S. Brown, Aditi Raghunathan, and Anca Dragan
CoRL, 2022

[PDF] [Bibtex] [Abstract]

Characterization of a Meso-Scale Wearable Robot for Bathing Assistance

Fukang Liu, Vaidehi Patil, Zackory Erickson, and Zeynep Temel
ROBIO, 2022

[PDF] [Bibtex] [Abstract]

Visual Haptic Reasoning: Estimating Contact Forces by Observing Deformable Object Interactions

Yufei Wang, David Held, and Zackory Erickson
IEEE Robotics and Automation Letters (RA-L), 2022

[PDF] [Project Page] [Bibtex] [Abstract]

CapSense: A Real-Time Capacitive Sensor Simulation Framework for Physical Human-Robot Interaction

Christian Schöffmann, Zackory Erickson, and Hubert Zangl
IEEE Robotics and Automation Letters (RA-L), 2022

[PDF] [Code] [Bibtex] [Abstract]

Characterizing Multidimensional Capacitive Servoing for Physical Human-Robot Interaction

Zackory Erickson, Henry M. Clever, Vamsee Gangaram, Eliot Xing, Greg Turk, C. Karen Liu, and Charles C. Kemp
IEEE Transactions on Robotics (T-RO), 2022

[PDF] [Bibtex] [Abstract]

Bodies Uncovered: Learning to Manipulate Real Blankets Around People via Physics Simulations

Kavya Puthuveetil, Charles C. Kemp, and Zackory Erickson
IEEE Robotics and Automation Letters (RA-L), 2022

[PDF] [Project Page] [Code] [Bibtex] [Abstract] [Video]

Assistive VR Gym: Interactions with Real People to Improve Virtual Assistive Robots

Zackory Erickson*, Yijun Gu*, and Charles C. Kemp
RO-MAN, 2020

[PDF] [Code] [Bibtex] [Abstract] [Video]

Multimodal Material Classification for Robots using Spectroscopy and High Resolution Texture Imaging

Zackory Erickson, Eliot Xing, Bharat Srirangam, Sonia Chernova, and Charles C. Kemp
IROS, 2020

[PDF] [Code] [Bibtex] [Abstract] [Video]

Bodies at Rest: 3D Human Pose and Shape Estimation from a Pressure Image using Synthetic Data

Henry M. Clever, Zackory Erickson, Ariel Kapusta, Greg Turk, C. Karen Liu, and Charles C. Kemp
CVPR, 2020 (Accepted for Oral Presentation)

[PDF] [Code] [Bibtex] [Abstract] [Video]

Assistive Gym: A Physics Simulation Framework for Assistive Robotics

Zackory Erickson, Vamsee Gangaram, Ariel Kapusta, C. Karen Liu, and Charles C. Kemp
ICRA, 2020

[PDF] [Code] [Bibtex] [Abstract] [Video]

Learning to Collaborate from Simulation for Robot-Assisted Dressing

Alexander Clegg, Zackory Erickson, Patrick Grady, Greg Turk, Charles C. Kemp, and C. Karen Liu
RA-L, 2020

[PDF] [Bibtex] [Abstract] [Video]

Active Robot-Assisted Feeding with a General-Purpose Mobile Manipulator: Design, Evaluation, and Lessons Learned

Daehyung Park, Yuuna Hoshi, Harshal P. Mahajan, Ho Keun Kim, Zackory Erickson, Wendy A. Rogers, and Charles C. Kemp
Robotics and Autonomous Systems, 2020

[PDF] [Bibtex] [Abstract] [Video]

Multidimensional Capacitive Sensing for Robot-Assisted Dressing and Bathing

Zackory Erickson, Henry M. Clever, Vamsee Gangaram, Greg Turk, C. Karen Liu, and Charles C. Kemp
ICORR, 2019 (Best Student Paper Award)

[PDF] [Bibtex] [Abstract] [Video]

Classification of Household Materials via Spectroscopy

Zackory Erickson, Nathan Luskey, Sonia Chernova, and Charles C. Kemp
RA-L, 2019 (Best Paper Award in Service Robotics finalist at ICRA 2019)

[PDF] [Code] [Bibtex] [Abstract] [Video]

Personalized Collaborative Plans for Robot-Assisted Dressing via Optimization and Simulation

Ariel Kapusta, Zackory Erickson, Henry M. Clever, Wenhao Yu, C. Karen Liu, Greg Turk, and Charles C. Kemp
Autonomous Robots, 2019

[PDF] [Bibtex] [Abstract] [Video]

Autonomous Tool Construction Using Part Shape and Attachment Prediction

Lakshmi Nair, Nithin Srikanth, Zackory Erickson, and Sonia Chernova
RSS, 2019

[PDF] [Bibtex] [Abstract] [Video]

Deep Haptic Model Predictive Control for Robot-Assisted Dressing

Zackory Erickson, Henry M. Clever, Greg Turk, C. Karen Liu, and Charles C. Kemp
ICRA, 2018

[PDF] [Bibtex] [Abstract] [Video]

Tracking Human Pose During Robot-Assisted Dressing using Single-Axis Capacitive Proximity Sensing

Zackory Erickson, Maggie Collier, Ariel Kapusta, and Charles C. Kemp
RA-L, 2018

[PDF] [Bibtex] [Abstract] [Video]

3D Human Pose Estimation on a Configurable Bed from a Pressure Image

Henry M. Clever, Ariel Kapusta, Daehyung Park, Zackory Erickson, Yash Chitalia, and Charles C. Kemp
IROS, 2018

[PDF] [Code] [Bibtex] [Abstract] [Video]

Semi-Supervised Haptic Material Recognition for Robots using Generative Adversarial Networks

Zackory Erickson, Sonia Chernova, and Charles C. Kemp
CoRL, 2017

[PDF] [Code] [Bibtex] [Abstract]

What Does the Person Feel? Learning to Infer Applied Forces During Robot-Assisted Dressing

Zackory Erickson, Alexander Clegg, Wenhao Yu, Greg Turk, C. Karen Liu, and Charles C. Kemp
ICRA, 2017

[PDF] [Code] [Bibtex] [Abstract] [Video]

Learning to Navigate Cloth using Haptics

Alexander Clegg, Wenhao Yu, Zackory Erickson, C. Karen Liu, and Greg Turk
IROS, 2017

[PDF] [Bibtex] [Abstract] [Video]

A Multimodal Execution Monitor with Anomaly Classification for Robot-Assisted Feeding

Daehyung Park, Hokeun Kim, Yuuna Hoshi, Zackory Erickson, Ariel Kapusta, and Charles C. Kemp
IROS, 2017

[PDF] [Code] [Bibtex] [Abstract] [Video]

Multimodal Execution Monitoring for Anomaly Detection During Robot Manipulation

Daehyung Park, Zackory Erickson, Tapomayukh Bhattacharjee, and Charles C. Kemp
ICRA, 2016

[PDF] [Code] [Bibtex] [Abstract] [Video]