Publications | Research

11 results found
Robotics

Clear all

2026

cuArms: GPU-Accelerated Conflict-Based Planning for Multi-Arm Manipulation

Philip Huang, Fabio Ramos, Jiaoyang Li, Caelan Garrett, Lars Johannsmeier

CORL

DemoStream: Batched Task-and-Motion-Plan Optimization for Automated Learning from Demonstration

Caelan Garrett, Neel Jawale, Fabio Ramos

CORL

TAMPAgent: Agentic Belief-Space Planning for Mobile Manipulation

Utkarsh Aashu Mishra, Alperen Degirmenci, Yongxin Chen, Danfei Xu, Tucker Hermans, Caelan Garrett

CORL

ScheduleGen: Demonstration Generation via Skill Scheduling for Multi-Arm Imitation Learning

Neel Jawale, Stephan Pleines, Soha Pouya, Yuke Zhu, Ajay Mandlekar, Caelan Garrett

Human2Any: Human-to-Robot Transfer via Constraint-Aware Compositional Planning

Shuo Cheng, Chuye Zhang, Alfred Cueva, Caelan Garrett, Ajay Mandlekar, Danfei Xu

CORL

ROSA: A Robotics Foundation Model Serving System for Robot Factories

Wenqi Jiang, Jason Clemons, Rowland O'Flaherty, Hugo Hadfield, Alperen Degirmenci, Shuran Song, Yashraj Narang, Christos Kozyrakis

ScheduleStream: Temporal Planning with Samplers for GPU-Accelerated Multi-Arm Task and Motion Planning & Scheduling

Caelan Garrett, Fabio Ramos

ReinforceGen: Hybrid Skill Policies with Automated Data Generation and Reinforcement Learning

Zihan Zhou, Animesh Garg, Ajay Mandlekar, Caelan Garrett

ICRA

Do What You Say: Steering Vision-Language-Action Models via Runtime Reasoning-Action Alignment Verification

Yilin Wu, Anqi Li, Tucker Hermans, Fabio Ramos, Andrea Bajcs, Claudia D’Arpino

ICRA

HumanoidMimicGen: Data Generation for Loco-Manipulation via Whole-Body Planning

Kevin Lin, Ajay Mandlekar, Caelan Garrett, Nikita Cherniadev, Yu Fang, Runyu Ding, Yuqi Xie, Justin Tran, Linxi "Jim" Fan, Yuke Zhu

ICRA

Best Workshop Paper Finalist

Open-World Task and Motion Planning via Vision-Language Model Inferred Constraints

Nishanth Kumar, William Shen, Fabio Ramos, Dieter Fox, Tomás Lozano-Pérez, Leslie Pack Kaelbling, Caelan Garrett

CORL