Caelan Garrett ![](/sites/default/files/person/Caelan.jpg) [Caelan Garrett (mit.edu)](http://web.mit.edu/caelan/www/) 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=KVUCqGwAAAAJ&hl=en](https://scholar.google.com/citations?user=KVUCqGwAAAAJ&hl=en) ### Publications ### 2026 [ScheduleStream: Temporal Planning with Samplers for GPU-Accelerated Multi-Arm Task and Motion Planning & Scheduling](/publication/2026-06_schedulestream-temporal-planning-samplers-gpu-accelerated-multi-arm-task-and) [Caelan Garrett](/person/caelan-garrett), [Fabio Ramos](/person/fabio-ramos) [IEEE International Conference on Robotics & Automation (ICRA)](https://arxiv.org/abs/2511.04758) ### 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) [The Reality Gap in Robotics: Challenges, Solutions, and Best Practices](/publication/2025-10_reality-gap-robotics-challenges-solutions-and-best-practices) Elie Aljalbout, Jiaxu Xing, Angel Romero, [Iretiayo Akinola](/person/iretiayo-akinola), [Caelan Garrett](/person/caelan-garrett), Eric Heiden, Abhishek Gupta, [Tucker Hermans](/person/tucker-hermans), [Yashraj Narang](/person/yashraj-narang), Dieter Fox, Davide Scaramuzza, [Fabio Ramos](/person/fabio-ramos) [Annual Review of Control, Robotics, and Autonomous Systems 2026](https://arxiv.org/abs/2510.20808) [Learning to Plan & Schedule with Reinforcement-Learned Bimanual Robot Skills](/publication/2025-09_learning-plan-schedule-reinforcement-learned-bimanual-robot-skills) Weikang Wan, [Fabio Ramos](/person/fabio-ramos), [Xuning Yang](/person/xuning-yang), [Caelan Garrett](/person/caelan-garrett) [CoRL 2025 Workshop on Learning Effective Abstractions for Planning (LEAP)](https://openreview.net/forum?id=HoyzrI5xD8) [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) [scene\_synthesizer: A Python Library for Procedural Scene Generation in Robot Manipulation](/publication/2025-01_scenesynthesizer-python-library-procedural-scene-generation-robot-manipulation) Clemens Eppner, [Adithya Murali](/person/adithya-murali), [Caelan Garrett](/person/caelan-garrett), [Rowland O'Flaherty](/person/rowland-oflaherty), [Tucker Hermans](/person/tucker-hermans), [Wei Yang](/person/wei-yang), Dieter Fox [The Journal of Open Source Software (JOSS)](https://joss.theoj.org/) ### 2024 [Differentiable GPU-Parallelized Task and Motion Planning](/index.php/publication/2024-11_differentiable-gpu-parallelized-task-and-motion-planning) William Shen, [Caelan Garrett](/index.php/person/caelan-garrett), Nishanth Kumar, [Ankit Goyal](/index.php/person/ankit-goyal), [Tucker Hermans](/index.php/person/tucker-hermans), Leslie Pack Kaelbling, Tomás Lozano-Pérez, [Fabio Ramos](/index.php/person/fabio-ramos) [Robotics: Science and Systems (RSS)](https://www.roboticsproceedings.org/rss21/p050.html) [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) [Open-World Task and Motion Planning via Vision-Language Model Inferred Constraints](/index.php/publication/2024-11_open-world-task-and-motion-planning-vision-language-model-inferred-constraints) Nishanth Kumar, William Shen, [Fabio Ramos](/index.php/person/fabio-ramos), Dieter Fox, Tomás Lozano-Pérez, Leslie Pack Kaelbling, [Caelan Garrett](/index.php/person/caelan-garrett) [CoRL 2024 Workshop on Language and Robot Learning Language as an Interface](https://arxiv.org/abs/2411.08253) [HAMSTER: Hierarchical Action Models for Open-World Robot Manipulation](/publication/2024-11_hamster-hierarchical-action-models-open-world-robot-manipulation) Yi Li, Yuquan Deng, Jesse Zhang, Joel Jang, Marius Memmel, [Caelan Garrett](/person/caelan-garrett), [Fabio Ramos](/person/fabio-ramos), Dieter Fox, [Anqi Li](/person/anqi-li), Abhishek Gupta, [Ankit Goyal](/person/ankit-goyal) [International Conference on Learning Representations (ICLR)](https://openreview.net/forum?id=xZ6ZrbpBRp) [Guiding Long-Horizon Task and Motion Planning with Vision Language Models](/publication/2024-11_guiding-long-horizon-task-and-motion-planning-vision-language-models) Zhutian Yang, [Caelan Garrett](/person/caelan-garrett), Dieter Fox, Tomás Lozano-Pérez, Leslie Pack Kaelbling [IEEE International Conference on Robotics & Automation (ICRA)](https://arxiv.org/abs/2410.02193) [Constructability-driven design of frame structures with state-space search methods](/publication/2024-11_constructability-driven-design-frame-structures-state-space-search-methods) Yijiang Huang, [Caelan Garrett](/person/caelan-garrett), Caitlin Mueller [Automation in Construction](https://www.sciencedirect.com/science/article/abs/pii/S0926580524004473) [DiMSam: Diffusion Models as Samplers for Task and Motion Planning under Partial Observability](/publication/2024-10_dimsam-diffusion-models-samplers-task-and-motion-planning-under-partial) Xiaolin Fang, [Caelan Garrett](/person/caelan-garrett), Clemens Eppner, Tomás Lozano-Pérez, Leslie Pack Kaelbling, Dieter Fox [IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)](https://arxiv.org/abs/2306.13196) Best Conference Paper Finalist, Best Student Paper Finalist [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) ### 2023 [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) [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) [Sequence-Based Plan Feasibility Prediction for Efficient Task and Motion Planning](/publication/2023-07_sequence-based-plan-feasibility-prediction-efficient-task-and-motion-planning) Zhutian Yang, [Caelan Garrett](/person/caelan-garrett), Tomás Lozano-Pérez, Leslie Pack Kaelbling, Dieter Fox [Robotics: Science and Systems (RSS)](https://roboticsconference.org/) [Meta-Policy Learning over Plan Ensembles for Robust Articulated Object Manipulation](/publication/2023-07_meta-policy-learning-over-plan-ensembles-robust-articulated-object-manipulation) Constantinos Chamzas, [Caelan Garrett](/person/caelan-garrett), [Balakumar Sundaralingam](/person/balakumar-sundaralingam), Lydia Kavraki, Dieter Fox [RSS 2023 Workshop on Learning for Task and Motion Planning](https://openreview.net/forum?id=68N8Dj6KVv) [CuRobo: Parallelized Collision-Free Robot Motion Generation](/publication/2023-05_curobo-parallelized-collision-free-robot-motion-generation) [Balakumar Sundaralingam](/person/balakumar-sundaralingam), [Siva Hari](/person/siva-hari), Adam Fishman, [Caelan Garrett](/person/caelan-garrett), Karl Van Wyk, [Valts Blukis](/person/valts-blukis), Alexander Millane, Helen Oleynikova, Ankur Handa, [Fabio Ramos](/person/fabio-ramos), Nathan Ratliff, Dieter Fox [IEEE International Conference on Robotics and Automation (ICRA)](https://www.icra2023.org/) ### 2022 [Cooperative Task and Motion Planning for Multi-Arm Assembly Systems](/publication/2022-03_cooperative-task-and-motion-planning-multi-arm-assembly-systems) Jingkai Chen, Jiaoyang Li, Yijiang Huang, [Caelan Garrett](/person/caelan-garrett), Dawei Sun, Chuchu Fan, Andreas Hofmann, Caitlin Mueller, Sven Koenig, Brian Williams ### 2020 [Online replanning in belief space for partially observable task and motion problems](/publication/2020-05_online-replanning-belief-space-partially-observable-task-and-motion-problems) [Caelan Garrett](/person/caelan-garrett), Chris Paxton, Tomas Lozano-Perez, Leslie Kaebling, Dieter Fox [ICRA 2020](https://ieeexplore.ieee.org/iel7/9187508/9196508/09196681.pdf)