Ankit Goyal  

 



  ![](/sites/default/files/person/Ankit_Goyal_0.jpg)

  

   Research Area(s)

[Computer Vision](/research-area/computer-vision)

[Robotics](/research-area/robotics)

 

 

  

 Main Field of Interest

[Robotics](/research-area/robotics)

 

  

 Google Scholar

[https://scholar.google.com/citations?user=RhN6jKIAAAAJ&hl=en&oi=sra](https://scholar.google.com/citations?user=RhN6jKIAAAAJ&hl=en&oi=sra)

 

  

 

 

 



 ### Publications

 

### 2024 

[AdaDemo: Data-Efficient Demonstration Expansion for Generalist Robotic Agent](/publication/2024-12_adademo-data-efficient-demonstration-expansion-generalist-robotic-agent)

Tongzhou Mu, [Yijie Guo](/person/yijie-guo), [Jie Xu](/person/jie-xu), [Ankit Goyal](/person/ankit-goyal), Hao Su, Dieter Fox, Animesh Garg



[The International Foundation of Robotics Research (ISRR) 2024](https://isrr2024.su.domains/)









[Differentiable GPU-Parallelized Task and Motion Planning](/publication/2024-11_differentiable-gpu-parallelized-task-and-motion-planning)

William Shen, [Caelan Garrett](/person/caelan-garrett), Nishanth Kumar, [Ankit Goyal](/person/ankit-goyal), [Tucker Hermans](/person/tucker-hermans), Leslie Pack Kaelbling, Tomás Lozano-Pérez, [Fabio Ramos](/person/fabio-ramos)



[Robotics: Science and Systems (RSS)](https://www.roboticsproceedings.org/rss21/p050.html)









[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)









[RVT-2: Learning Precise Manipulation from Few Examples](/publication/2024-07_rvt-2-learning-precise-manipulation-few-examples)

[Ankit Goyal](/person/ankit-goyal), [Valts Blukis](/person/valts-blukis), [Jie Xu](/person/jie-xu), [Yijie Guo](/person/yijie-guo), [Yu-Wei Chao](/person/yu-wei-chao), Dieter Fox



[Robotics: Science and Systems (RSS) 2024](https://roboticsconference.org/)









### 2023 

[RVT: Robotic View Transformer for 3D Object Manipulation](/index.php/publication/2023-11_rvt-robotic-view-transformer-3d-object-manipulation)

[Ankit Goyal](/index.php/person/ankit-goyal), [Jie Xu](/index.php/person/jie-xu), [Yijie Guo](/index.php/person/yijie-guo), [Valts Blukis](/index.php/person/valts-blukis), [Yu-Wei Chao](/index.php/person/yu-wei-chao), Dieter Fox



[Conference on Robot Learning (CoRL) 2023](https://www.corl2023.org)









[ProgPrompt: Generating Situated Robot Task Plans Using Large Language Models](/index.php/publication/2023-05_progprompt-generating-situated-robot-task-plans-using-large-language-models)

Ishika Singh, [Valts Blukis](/index.php/person/valts-blukis), Arsalan Mousavian, [Ankit Goyal](/index.php/person/ankit-goyal), [Danfei Xu](/index.php/person/danfei-xu), [Jonathan Tremblay](/index.php/person/jonathan-tremblay), Dieter Fox, Jesse Thomason, Animesh Garg



[The International Conference on Robotics and Automation (ICRA)](https://www.icra2023.org/welcome)









### 2022 

[Ifor: Iterative flow minimization for robotic object rearrangement](/publication/2022-06_ifor-iterative-flow-minimization-robotic-object-rearrangement)

[Ankit Goyal](/person/ankit-goyal), Arsalan Mousavian, Chris Paxton, [Yu-Wei Chao](/person/yu-wei-chao), Brian Okorn, Jia Deng, Dieter Fox



[IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR) 2022](https://cvpr2022.thecvf.com/)