Publications

Our publications provide insight into some of our leading-edge research.

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2025

ThinkAct: Vision-Language-Action Reasoning via Reinforced Visual Latent Planning
Chi-Pin Huang, Yueh-Hua Wu, Min-Hung Chen, Frank Wang, Fred Yang
Generalizable Domain Adaptation for Sim-and-Real Policy Co-Training
Shuo Cheng, Liqian Ma, Zhenyang Chen, Ajay Mandlekar, Caelan Garrett, Danfei Xu
ScheduleStream: Temporal Planning with Samplers for GPU-Accelerated Multi-Arm Task and Motion Planning & Scheduling
Caelan Garrett, Fabio Ramos
The Reality Gap in Robotics: Challenges, Solutions, and Best Practices
Elie Aljalbout, Jiaxu Xing, Angel Romero, Iretiayo Akinola, Caelan Garrett, Eric Heiden, Abhishek Gupta, Tucker Hermans, Yashraj Narang, Dieter Fox, Davide Scaramuzza, Fabio Ramos
ACGD: Visual Multitask Policy Learning with Asymmetric Critic Guided Distillation
Krishnan Srinivasan, Jie Xu, Henry Ang, Eric Heiden, Dieter Fox, Jeannette Bohg, Animesh Garg
Isaac Lab: A GPU Accelerated Simulation Framework For Multi-Modal Robot Learning
Mayank Mittal, Kelly Guo, Gavriel State, Spencer Huang
Neural Robot Dynamics
Jie Xu, Eric Heiden, Iretiayo Akinola, Dieter Fox, Miles Macklin, Yashraj Narang
Learning to Plan & Schedule with Reinforcement-Learned Bimanual Robot Skills
Weikang Wan, Fabio Ramos, Xuning Yang, Caelan Garrett
ReinforceGen: Hybrid Skill Policies with Automated Data Generation and Reinforcement Learning
Zihan Zhou, Animesh Garg, Ajay Mandlekar, Caelan Garrett
Latent Action Pretraining from Videos
Seonghyeon Ye, Joel Jang, Byeongguk Jeon, Sejune Joo, Jianwei Yang, Baolin Peng, Ajay Mandlekar, Reuben Tan, Yu-Wei Chao, Yuchen Lin, Lars Liden, Kimin Lee, Jianfeng Gao, Luke Zettlemoyer, Dieter Fox, Minjoon Seo
NVIDIA Isaac GR00T N1: An Open Foundation Model for Humanoid Robots
Yuke Zhu, Linxi "Jim" Fan, NVIDIA GEAR Team
Cosmos World Foundation Model Platform for Physical AI
Ming-Yu Liu, Many other contributors at https://d1qx31qr3h6wln.cloudfront.net/publications/NVIDIA%20Cosmos_4.pdf

2024

FactorSim: Generative Simulation via Factorized Representation
Fan-Yun Sun, S. I. Harini, Angela Yi, Yihan Zhou, Alex Zook, Jonathan Tremblay, Logan Cross, Jiajun Wu, Nick Haber
Diffusion-Reward Adversarial Imitation Learning
Chun-Mao Lai, Hsiang-Chun Wang, Ping-Chun Hsieh, Frank Wang, Min-Hung Chen, Shao-Hua Sun
MaskedMimic: Unified Physics-Based Character Control Through Masked Motion Inpainting
Chen Tessler, Kelly Guo, Ofir Nabati, Gal Chechik, Jason Peng
Differentiable GPU-Parallelized Task and Motion Planning
William Shen, Caelan Garrett, Nishanth Kumar, Ankit Goyal, Tucker Hermans, Leslie Pack Kaelbling, Tomás Lozano-Pérez, Fabio Ramos
SPIRE: Synergistic Planning, Imitation, and Reinforcement Learning for Long-Horizon Manipulation
Zihan Zhou, Animesh Garg, Dieter Fox, Caelan Garrett, Ajay Mandlekar
SkillGen: Automated Demonstration Generation for Efficient Skill Learning and Deployment
Caelan Garrett, Ajay Mandlekar, Bowen Wen, Dieter Fox
NOD-TAMP: Generalizable Long-Horizon Planning with Neural Object Descriptors
Shuo Cheng, Caelan Garrett, Ajay Mandlekar, Danfei Xu
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
HAMSTER: Hierarchical Action Models for Open-World Robot Manipulation
Yi Li, Yuquan Deng, Jesse Zhang, Joel Jang, Marius Memmel, Caelan Garrett, Fabio Ramos, Dieter Fox, Anqi Li, Abhishek Gupta, Ankit Goyal
Guiding Long-Horizon Task and Motion Planning with Vision Language Models
Zhutian Yang, Caelan Garrett, Dieter Fox, Tomás Lozano-Pérez, Leslie Pack Kaelbling
Constructability-driven design of frame structures with state-space search methods
Yijiang Huang, Caelan Garrett, Caitlin Mueller
Interventional Data Generation for Robust and Data-Efficient Robot Imitation Learning
Ryan Hoque, Ajay Mandlekar, Caelan Garrett, Ken Goldberg, Dieter Fox
DiMSam: Diffusion Models as Samplers for Task and Motion Planning under Partial Observability
Xiaolin Fang, Caelan Garrett, Clemens Eppner, Tomás Lozano-Pérez, Leslie Pack Kaelbling, Dieter Fox
Best Conference Paper Finalist
Best Student Paper Finalist
Learning to Move Like Professional Counter-Strike Players
David Durst, F. Xie, V. Sarukkai, Brennan Shacklett, Iuri Frosio, Chen Tessler, Joohwan Kim, C. Taylor, G. Bernstein, S. Choudhury, P. Hanrahan,, Kayvon Fatahalian
AutoMate: Specialist and Generalist Assembly Policies over Diverse Geometries
Bingjie Tang, Iretiayo Akinola, Jie Xu, Bowen Wen, Ankur Handa, Karl Van Wyk, Dieter Fox, Gaurav S. Sukhatme, Fabio Ramos, Yashraj Narang

2023

Imitating Task and Motion Planning with Visuomotor Transformers
Murtaza Dalal, Ajay Mandlekar, Caelan Garrett, Ankur Handa, Ruslan Salakhutdinov, Dieter Fox
Human-In-The-Loop Task and Motion Planning for Imitation Learning
Ajay Mandlekar, Caelan Garrett, Danfei Xu, Dieter Fox
Bayesian Reparameterization of Reward-Conditioned Reinforcement Learning with Energy-based Models
Wenhao Ding, Gerry Che, Ding Zhao, Marco Pavone
Sequence-Based Plan Feasibility Prediction for Efficient Task and Motion Planning
Zhutian Yang, Caelan Garrett, Tomás Lozano-Pérez, Leslie Pack Kaelbling, Dieter Fox
Meta-Policy Learning over Plan Ensembles for Robust Articulated Object Manipulation
Constantinos Chamzas, Caelan Garrett, Balakumar Sundaralingam, Lydia Kavraki, Dieter Fox