Publications

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

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2026

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
Best Workshop Paper Finalist
ReinforceGen: Hybrid Skill Policies with Automated Data Generation and Reinforcement Learning
Zihan Zhou, Animesh Garg, Ajay Mandlekar, Caelan Garrett
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

2025

Inference-Time Policy Steering through Human Interactions
Yanwei Wang, Lirui Wang, Yilun Du, Balakumar Sundaralingam, Xuning Yang, Yu-Wei Chao, Claudia D’Arpino , Dieter Fox, Julie Shah
TWIN: Two-handed Intelligent Benchmark for Bimanual Manipulation
Markus Grotz, Mohit Shridhar, Yu-Wei Chao, Tamim Asfour, Dieter Fox
SPOT: SE(3) Pose Trajectory Diffusion for Object-Centric Manipulation
Cheng-Chun Hsu, Bowen Wen, Jie Xu, Yashraj Narang, , Yuke Zhu, Joydeep Biswas, Stan Birchfield

2024

Guiding Long-Horizon Task and Motion Planning with Vision Language Models
Zhutian Yang, Caelan Garrett, Dieter Fox, Tomás Lozano-Pérez, Leslie Pack Kaelbling
SynH2R: Synthesizing Hand-Object Motions for Learning Human-to-Robot Handovers
Sammy Christen, Lan Feng, Wei Yang, Yu-Wei Chao, Otmar Hilliges, Jie Song
SKT-Hang: Hanging Everyday Objects via Object-Agnostic Semantic Keypoint Trajectory Generation
Chia-Liang Kuo, Yu-Wei Chao, Yi-Ting Chen

2023

Augmenting Lane Perception and Topology Understanding with Standard Definition Navigation Maps
Katie Z Luo, Xinshuo Weng, Yan Wang, Shuang Wu, Jie Li, Kilian Q Weinberger, Yue Wang, Marco Pavone
23 DoF Grasping Policies from a Raw Point Cloud
Martin Matak, Karl Van Wyk, Tucker Hermans
Planning for Multi-Object Manipulation with Graph Neural Network Relational Classifiers
Yixuan Huang, Adam Conkey, Tucker Hermans
Tree-structured Policy Planning with Learned Behavior Models
Yuxiao Chen, Peter Karkus, Boris Ivanovic, Xinshuo Weng, Marco Pavone
Receding Horizon Planning with Rule Hierarchies for Autonomous Vehicles
Sushant Veer, Karen Leung, Ryan Cosner, Yuxiao Chen, Marco Pavone
Planning with Occluded Traffic Agents using Bi-Level Variational Occlusion Models
Filippos Christianos, Peter Karkus, Boris Ivanovic, Stefano V. Albrecht, Marco Pavone
Guided Conditional Diffusion for Controllable Traffic Simulation
Ziyuan Zhong, Davis Rempe, Danfei Xu, Yuxiao Chen, Sushant Veer, Gerry Che, Baishakhi Ray, Marco Pavone
Expanding the Deployment Envelope of Behavior Prediction via Adaptive Meta-Learning
Boris Ivanovic, James Harrison, Marco Pavone
BITS: Bi-level Imitation for Traffic Simulation
Danfei Xu, Yuxiao Chen, Boris Ivanovic, Marco Pavone
FewSOL: A Dataset for Few-Shot Object Learning in Robotic Environments
Jishnu Jaykumar P, Yu-Wei Chao, Yu Xiang
ProgPrompt: Generating Situated Robot Task Plans Using Large Language Models
Ishika Singh, Valts Blukis, Arsalan Mousavian, Ankit Goyal, Danfei Xu, Jonathan Tremblay, Dieter Fox, Jesse Thomason, Animesh Garg
Parallel Inversion of Neural Radiance Fields for Robust Pose Estimation
Yunzhi Lin, Thomas Müller, Jonathan Tremblay, Bowen Wen, Stephen Tyree, Alex Evans, Patricio A. Vela, Stan Birchfield
DefGraspNets: Grasp Planning on 3D Fields with Graph Neural Nets
Isabella Huang, Yashraj Narang, Ruzena Bajcsy, Fabio Ramos, Tucker Hermans, Dieter Fox
RGB-Only Reconstruction of Tabletop Scenes for Collision-Free Manipulator Control
Zhenggang Tang, Balakumar Sundaralingam, Jonathan Tremblay, Bowen Wen, Ye Yuan, Stephen Tyree, Charles Loop, Alexander Schwing, Stan Birchfield
CabiNet: Scaling Neural Collision Detection for Object Rearrangement with Procedural Scene Generation
Adithya Murali, Arsalan Mousavian, Clemens Eppner, Adam Fishman, Dieter Fox

2022

Expanding the Deployment Envelope of Behavior Prediction via Adaptive Meta-Learning
Boris Ivanovic, James Harrison, Marco Pavone
HandoverSim: A Simulation Framework and Benchmark for Human-to-Robot Object Handovers
Yu-Wei Chao, Chris Paxton, Yu Xiang, Wei Yang, Balakumar Sundaralingam, Tao Chen, Adithya Murali, Maya Cakmak, Dieter Fox
Propagating State Uncertainty Through Trajectory Forecasting
Boris Ivanovic, Yifeng Lin, Shubham Shrivastava, Punarjay Chakravarty, Marco Pavone
PredictionNet: Real-Time Joint Probabilistic Traffic Prediction for Planning, Control, and Simulation
Alexey Kamenev, Lirui Wang, Ollin Boer Bohan, Ishwar Kulkarni, Bilal Kartal, Artem Molchanov, Stan Birchfield, David Nister, Nikolai Smolyanskiy
Single-Stage Keypoint-Based Category-Level Object Pose Estimation from an RGB Image
Yunzhi Lin, Jonathan Tremblay, Stephen Tyree, Patricio A. Vela, Stan Birchfield
Keypoint-Based Category-Level Object Pose Tracking from an RGB Sequence with Uncertainty Estimation
Yunzhi Lin, Jonathan Tremblay, Stephen Tyree, Patricio A. Vela, Stan Birchfield

2021

Sim-to-Real for Robotic Tactile Sensing via Physics-Based Simulation and Learned Latent Projections
Yashraj Narang, Balakumar Sundaralingam, Miles Macklin, Arsalan Mousavian, Dieter Fox
Hierarchical Planning for Long-Horizon Manipulation with Geometric and Symbolic Scene Graphs
Yifeng Zhu, Jonathan Tremblay, Stan Birchfield, Yuke Zhu