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

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2026

Imitation Learning of Avoidance Modes for Efficient Multimodal Model Predictive Control
Changyu Lee, Byung-Kwan Lee, Kanghoon Yoon
TAMPAgent: Agentic Belief-Space Planning for Mobile Manipulation
Utkarsh Aashu Mishra, Alperen Degirmenci, Yongxin Chen, Danfei Xu, Tucker Hermans, Caelan Garrett
cuArms: GPU-Accelerated Conflict-Based Planning for Multi-Arm Manipulation
Philip Huang, Fabio Ramos, Jiaoyang Li, Caelan Garrett, Lars Johannsmeier
DemoStream: Batched Task-and-Motion-Plan Optimization for Automated Learning from Demonstration
Caelan Garrett, Neel Jawale, Fabio Ramos
ScheduleGen: Demonstration Generation via Skill Scheduling for Multi-Arm Imitation Learning
Neel Jawale, Stephan Pleines, Soha Pouya, Yuke Zhu, Ajay Mandlekar, Caelan Garrett
FOVI-Dex: Foveation enables efficient perceptive learning of dexterous manipulation in simulation
Nicholas Blauch, Nicolas Moënne-Loccoz, Jayjun Lee, Patrick Yin, Mohak Bhardwaj, Muhammad Asif Rana, Jessica Yin, Sam Mady, Karl Van Wyk, Nathan D. Ratliff, Jae-Hyun Jung, Ruth Rosenholtz, Ankur Handa, Gavriel State
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