Ajay Mandlekar  

 



  ![](/sites/default/files/person/Ajay_Mandelkar.JPG)

  

   Research Area(s)

[Artificial Intelligence and Machine Learning ](/index.php/research-area/machine-learning-artificial-intelligence)

[Robotics](/index.php/research-area/robotics)

 

 

  

 Main Field of Interest

[Robotics](/index.php/research-area/robotics)

 

  

 Google Scholar

[https://scholar.google.com/citations?user=Wde2GwcAAAAJ&hl=en&authuser=1](https://scholar.google.com/citations?user=Wde2GwcAAAAJ&hl=en&authuser=1)

 

  

 

 

 



 ### Publications

 

### 2025 

[Generalizable Domain Adaptation for Sim-and-Real Policy Co-Training](/index.php/publication/2025-12_generalizable-domain-adaptation-sim-and-real-policy-co-training)

Shuo Cheng, Liqian Ma, Zhenyang Chen, [Ajay Mandlekar](/index.php/person/ajay-mandlekar), [Caelan Garrett](/index.php/person/caelan-garrett), [Danfei Xu](/index.php/person/danfei-xu)



[Conference on Neural Information Processing Systems (NeuRIPS)](https://arxiv.org/abs/2509.18631)









[ReinforceGen: Hybrid Skill Policies with Automated Data Generation and Reinforcement Learning](/index.php/publication/2025-09_reinforcegen-hybrid-skill-policies-automated-data-generation-and-reinforcement)

Zihan Zhou, Animesh Garg, [Ajay Mandlekar](/index.php/person/ajay-mandlekar), [Caelan Garrett](/index.php/person/caelan-garrett)



[OpenReview](https://openreview.net/forum?id=fHKbqw5ZND)









[Latent Action Pretraining from Videos](/publication/2025-04_latent-action-pretraining-videos)

Seonghyeon Ye, Joel Jang, Byeongguk Jeon, Sejune Joo, Jianwei Yang, Baolin Peng, [Ajay Mandlekar](/person/ajay-mandlekar), Reuben Tan, [Yu-Wei Chao](/person/yu-wei-chao), Yuchen Lin, Lars Liden, Kimin Lee, Jianfeng Gao, Luke Zettlemoyer, Dieter Fox, Minjoon Seo



[International Conference on Learning Representations (ICLR) 2025](https://iclr.cc/Conferences/2025)









### 2024 

[NOD-TAMP: Generalizable Long-Horizon Planning with Neural Object Descriptors](/index.php/publication/2024-11_nod-tamp-generalizable-long-horizon-planning-neural-object-descriptors)

Shuo Cheng, [Caelan Garrett](/index.php/person/caelan-garrett), [Ajay Mandlekar](/index.php/person/ajay-mandlekar), [Danfei Xu](/index.php/person/danfei-xu)



[ Conference on Robot Learning (CoRL)](https://openreview.net/forum?id=rThtgkXuvZ)









[SkillGen: Automated Demonstration Generation for Efficient Skill Learning and Deployment](/index.php/publication/2024-11_skillgen-automated-demonstration-generation-efficient-skill-learning-and)

[Caelan Garrett](/index.php/person/caelan-garrett), [Ajay Mandlekar](/index.php/person/ajay-mandlekar), [Bowen Wen](/index.php/person/bowen-wen), Dieter Fox



[Conference on Robot Learning (CoRL)](https://openreview.net/forum?id=YOFrRTDC6d)









[SPIRE: Synergistic Planning, Imitation, and Reinforcement Learning for Long-Horizon Manipulation](/publication/2024-11_spire-synergistic-planning-imitation-and-reinforcement-learning-long-horizon)

Zihan Zhou, Animesh Garg, Dieter Fox, [Caelan Garrett](/person/caelan-garrett), [Ajay Mandlekar](/person/ajay-mandlekar)



[Conference on Robot Learning (CoRL)](https://openreview.net/forum?id=cvUXoou8iz)









[Interventional Data Generation for Robust and Data-Efficient Robot Imitation Learning](/publication/2024-10_interventional-data-generation-robust-and-data-efficient-robot-imitation)

Ryan Hoque, [Ajay Mandlekar](/person/ajay-mandlekar), [Caelan Garrett](/person/caelan-garrett), Ken Goldberg, Dieter Fox



[IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)](https://arxiv.org/abs/2405.01472)









[Signatures Meet Dynamic Programming: Generalizing Bellman Equations for Trajectory Following](/publication/2024-07_signatures-meet-dynamic-programming-generalizing-bellman-equations-trajectory)

Motoya Ohnishi, [Iretiayo Akinola](/person/iretiayo-akinola), [Jie Xu](/person/jie-xu), [Ajay Mandlekar](/person/ajay-mandlekar), [Fabio Ramos](/person/fabio-ramos)



[6th Annual Learning for Dynamics & Control Conference (L4DC) 2024](https://l4dc.web.ox.ac.uk/home)









### 2023 

[Imitating Task and Motion Planning with Visuomotor Transformers](/index.php/publication/2023-11_imitating-task-and-motion-planning-visuomotor-transformers)

Murtaza Dalal, [Ajay Mandlekar](/index.php/person/ajay-mandlekar), [Caelan Garrett](/index.php/person/caelan-garrett), Ankur Handa, Ruslan Salakhutdinov, Dieter Fox



[CoRL 2023](https://openreview.net/forum?id=QNPuJZyhFE)









[Human-In-The-Loop Task and Motion Planning for Imitation Learning](/index.php/publication/2023-11_human-loop-task-and-motion-planning-imitation-learning)

[Ajay Mandlekar](/index.php/person/ajay-mandlekar), [Caelan Garrett](/index.php/person/caelan-garrett), Danfei Xu, Dieter Fox



[CoRL 2023](https://openreview.net/forum?id=G_FEL3OkiR)