Publications | Research

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Physical AI

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2026

Imitation Learning of Avoidance Modes for Efficient Multimodal Model Predictive Control

Changyu Lee, Byung-Kwan Lee, Kanghoon Yoon

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

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

3D-GENERALIST: Vision-Language-Action Models for Crafting 3D Worlds

Fan-Yun Sun, Shengguang Wu, Christian Jacobsen, Thomas Yim, Haoming Zou, Alex Zook, Shangru Li, Yu-Hsin Chou, Ethem Can, Xunlei Wu, Clemens Eppner, Valts Blukis, Jonathan Tremblay, Jiajun Wu, Stan Birchfield, Nick Haber