Wenzhao Lian

I am currently a staff research scientist at Intrinsic, graduated from X, the moonshot factory (formerly Google[x]). I am interested in robotics and statistical machine learning.
Before joining X, I was a senior researcher and team lead at Vicarious, developing algorithms and systems for robotic manipluation tasks, which was deployed as the first product. In 2015, I received my Ph.D. in Electrical and Computer Engineering, advised by Dr. Lawrence Carin, and Master's degree in Statistics, advised by Dr. David Dunson. I received my Bachelor's Degree in Electrical and Computer Engineering in Shanghai Jiao Tong University in 2011. In the year of 2013 and 2010, I went to Department of Mathematics at Yale University and Department of Electrical and Computer Engineering at University of Virginia as a visiting student, respectively. My email is $LastName$FirstName@gmail.com.
Research Interests
I am interested in robotics and statistical machine learning, with a focus on the following topics.
Robotic manipulation problems (an old photo)
Imitation learning and reinforcement learning
Modeling dynamical systems
Statistical inference
Publications
Xinghao Zhu, Wenzhao Lian, Bodi Yuan, Daniel Freeman, Masayoshi Tomizuka, Allowing Safe Contact in Robotic Goal-Reaching: Planning and Tracking in Operational and Null Spaces, Proceedings of International Conference on Robotics and Automation (ICRA), 2023
Achu Wilson, Helen Jiang, Wenzhao Lian, Wenzhen Yuan, Cable Routing and Assembly using Tactile-driven Motion Primitives, Proceedings of International Conference on Robotics and Automation (ICRA), 2023
Zheng Wu, Yichen Xie, Wenzhao Lian, Changhao Wang, Yanjiang Guo, Jianyu Chen, Stefan Schaal, Masayoshi Tomizuka, Zero-Shot Policy Transfer with Disentangled Task Representation of Meta-Reinforcement Learning, Proceedings of International Conference on Robotics and Automation (ICRA), 2023
Bowen Wen, Wenzhao Lian, Kostas Bekris, Stefan Schaal, You Only Demonstrate Once: Category-Level Manipulation from Single Visual Demonstration, Robotics: Science and Systems (RSS), 2022 (Best Paper Award Finalist)
Bowen Wen, Wenzhao Lian, Kostas Bekris, Stefan Schaal, CaTGrasp: Learning Category-Level Task-Relevant Grasping in Clutter from Simulation, Proceedings of International Conference on Robotics and Automation (ICRA), 2022
Toki Migimatsu, Wenzhao Lian, Jeannette Bohg, Stefan Schaal, Symbolic State Estimation with Predicates for Contact-Rich Manipulation Tasks, Proceedings of International Conference on Robotics and Automation (ICRA), 2022
Wenzhao Lian, Tim Kelch, Dirk Holz, Adam Norton, Stefan Schaal, Benchmarking Off-The-Shelf Solutions to Robotic Assembly Tasks, Proceedings of International Conference on Intelligent Robots and Systems (IROS), 2021
Shiyu Jin, Wenzhao Lian, Changhao Wang, Masayoshi Tomizuka, Stefan Schaal, Robotic Cable Routing with Spatial Representation, IEEE Robotics and Automation Letters (RA-L)
Jianlan Luo, Oleg Sushkov, Rugile Pevceviciute, Wenzhao Lian, Chang Su, Mel Vecerik, Ning Ye, Stefan Schaal, Jon Scholz, Robust Multi-Modal Policies for Industrial Assembly via Reinforcement Learning and Demonstrations: A Large-Scale Study, Robotics: Science and Systems (RSS), 2021
Zheng Wu, Wenzhao Lian, Vaibhav Unhelkar, Masayoshi Tomizuka, Stefan Schaal, Learning Dense Rewards for Contact-Rich Manipulation Tasks, Proceedings of International Conference on Robotics and Automation (ICRA), 2021
Peter A. Zachares, Michelle A. Lee, Wenzhao Lian, Jeannette Bohg, Interpreting Contact Interactions to Overcome Failure in Robot Assembly Tasks, Proceedings of International Conference on Robotics and Automation (ICRA), 2021
Wenzhao Lian, Ricardo Henao, Vinayak Rao, Joseph Locus, Lawrence Carin, A Multitask Point Process Predictive Model,( Appendix ) In Proceedings of the International Conference on Machine Learning, 2015
Wenzhao Lian, Piyush Rai, Esther Salazar, Lawrence Carin, Integrating Features and Similarities: Flexible Models for Heterogeneous Multiview Data, ( Appendix ) Proceedings of the Twenty-Ninth AAAI Conference on Artificial Intelligence, 2015
Evan X. Chen, Wenzhao Lian, Lawrence Carin, David Brady, Task-driven Adaptive Sensing on Quadrupole Mass Filter Systems for Classification, Computational Optical Sensing and Imaging, 2015
Kyle Ulrich, David Carlson, Wenzhao Lian, Jana Borg, Kafui Dzirasa, Lawrence Carin, Analysis of Brain States from Multi-Region LFP Time-Series, ( Appendix ) Advances in Neural Information Processing Systems, 2014
Esther Salazar, Yuliya Nikolova, Wenzhao Lian, Piyush Rai, Adrienne L. Romer, Ahmad R. Hariri, and Lawrence Carin, A Bayesian Framework for Multi-Modality Analysis of Mental Health, ( Appendix ) submitted
Piyush Rai, Wenzhao Lian, Lawrence Carin, Bayesian Multitask Distance Metric Learning, NIPS Workshop on Transfer and Multi-Task Learning: Theory meets Practice, 2014
Makoto Yamada, Wenzhao Lian, Amit Goyal, Jianhui Chen, Kishan Wimalawarne, Suleiman A Khan, Samuel Kaski, Hiroshi Mamitsuka, Yi Chang, Convex factorization machine for toxicogenomics prediction, Proceedings of the 23rd ACM SIGKDD International Conference on Knowledge Discovery and Data Mining
Wenzhao Lian, Piyush Rai, Esther Salazar, Lawrence Carin, Bayesian Multiview Factor Modeling for Integrating and Analyzing Heterogeneous Clinical Data, NIPS Workshop on Machine Learning for Clinical Data Analysis, Healthcare and Genomics, 2014
Wenzhao Lian, Vinayak Rao, Brian Eriksson, Lawrence Carin, Modeling Correlated Arrival Events with Latent Semi-Markov Processes, ( Appendix ) (Code) In Proceedings of the International Conference on Machine Learning, 2014
Wenzhao Lian, Ronen Talmen, Hitten Zaveri, Lawrence Carin, Ronald Coifman, Multivariate Time-Series Analysis and Diffusion Maps, Signal Processing, 2015, vol. 116, pp. 13-28
David E. Carlson, Joshua T. Vogelstein, Qisong Wu, Wenzhao Lian, Mingyuan Zhou, Colin R. Stoetzner, Daryl Kipke, Douglas Weber, David B. Dunson and Lawrence Carin, Sorting Electrophysiological Data via Dictionary Learning & Mixture Modeling, IEEE Transactions on Biomedical Engineering. July, 2013
Working Experience
Staff Research Scientist at Google X, Mountain View, CA, Aug. 2019 to Present
Senior Researcher at Vicarious, San Francisco, CA, Jan. 2016 to Aug. 2019
Research intern at Yahoo Labs, Sunnyvale, CA, Jun. to Sept. 2015
Research intern at Microsoft Research, Redmond, WA, May to Aug. 2014
Research intern at Technicolor Research Center, Palo Alto, CA, Jun. to Aug. 2013
Teaching Experience
STA571, Advanced Machine Learning, Spring 2015
STA561/CS571, Probabilistic Machine Learning, Fall 2013