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Fukang Liu
I am a fourth-year PhD student in Robotics at the Georgia Institute of Technology, where I am advised by Zsolt Kira and
Danfei Xu. I also work closely with Ye Zhao.
I was supported by the IRIM PhD Fellowship.
My research focuses on physically grounded robot learning,
with an emphasis on humanoid systems and physical interaction.
I study how learning and physical models can enable reliable and versatile interaction with the physical world.
I am currently a part-time student researcher at Meta.
Previously, I was fortunate to work with Zackory Erickson
and Zeynep Temel
at Robotics Institute, Carnegie Mellon University.
I also spent great time at Department of Computer Science and Technology,
Tsinghua University,
worked with Bin Fang,
Xiang Li,
and Fuchun Sun,
and began my journey in robotics.
I hold a Master's degree from Carnegie Mellon University and Tsinghua University.
I obtained my Bachelor's degree (with Honors) in Engineering Mechanics from Tongji University.
Google Scholar ·
Github ·
LinkedIn ·
Twitter
Email: fukangliu[at]gatech[dot]edu
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News
[2026/09] Introducing Opt2VLA: force-aware vision-language-action for contact-rich humanoid whole-body manipulation.
[2026/05] Started as a research scientist intern at Meta.
[2025/09] Our Opt2Skill paper accepted to RA-L.
[2025/06] Our SkinGrip paper accepted to IROS 2025.
[2025/04] I passed my Ph.D. qualifying exam.
[2023/04] I've been awarded the IRIM Fellowship.
[2023/01] Our multimodal grasping paper accepted to IEEE Transactions on Robotics (T-RO).
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Research
I study how robots can acquire versatile whole-body skills and interact intelligently with the physical world.
A central question in my research is how to connect high-level task understanding with the dynamics and constraints of physical interaction.
My recent work takes a full-stack approach to this problem,
from learning robust humanoid skills from dynamically feasible trajectories (Opt2Skill) to integrating vision-language-action policies with explicit force-aware interaction (Opt2VLA).
More broadly, I am interested in physically grounded robot learning and autonomy, where learning is informed by contact, dynamics, and the physical consequences of action.
If you're interested in my research or potential collaborations, please drop me an email.
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Opt2VLA: Force-Aware Vision-Language-Action for Contact-Rich Humanoid Whole-Body Manipulation
Fukang Liu*,
Yipu Chen*,
Jaehwi Jang,
Danfei Xu,
Zsolt Kira,
Ye Zhao
Under review
paper |
website
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REFINE-DP: Diffusion Policy Fine-tuning for Humanoid Loco-manipulation via Reinforcement Learning
Zhaoyuan Gu, et al.
IEEE Robotics and Automation Letters (RA-L) 2026
paper |
website
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Opt2Skill: Imitating Dynamically-feasible Whole-Body Trajectories for Versatile Humanoid Loco-Manipulation
Fukang Liu,
Zhaoyuan Gu,
Yilin Cai,
Ziyi Zhou,
Hyunyoung Jung,
Jaehwi Jang,
Shijie Zhao,
Sehoon Ha,
Yue Chen,
Danfei Xu,
Ye Zhao
IEEE Robotics and Automation Letters (RA-L) 2025
paper |
website |
code (releasing soon)
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SkinGrip: An Adaptive Soft Robotic Manipulator with Capacitive Sensing for Whole-Limb Bathing Assistance
Fukang Liu,
Kavya Puthuveetil,
Akhil Padmanabha,
Karan Khokar,
Zeynep Temel,
Zackory Erickson
The IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2025
paper |
video |
website
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Hybrid Robotic Grasping with a Soft Multimodal Gripper and a Deep Multistage Learning Scheme
Fukang Liu,
Fuchun Sun,
Bin Fang,
Xiang Li,
Songyu Sun,
Huaping Liu
IEEE Transactions on Robotics (T-RO) 2023
paper |
video |
code
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Characterization of a Meso-Scale Wearable Robot for Bathing Assistance
Fukang Liu, Vaidehi Patil, Zackory Erickson, Zeynep Temel
IEEE International Conference on Robotics and Biomimetics (ROBIO) 2022
paper
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Multimode Grasping Soft Gripper Achieved by Layer Jamming Structure and Tendon-Driven Mechanism
Bin Fang, Fuchun Sun, Linyuan Wu, Fukang Liu, Xiangxiang Wang, Haiming Huang, Haiming Huang, Huaping Liu, Wen Li
Soft Robotics 2022
paper
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Academic Service
Reviewer: T-RO, RA-L, TMECH, RSS, CoRL, ICRA, IROS, Humanoids, RoboSoft, CASE
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