Publications

X-Diffusion: Training Diffusion Policies on Cross-Embodiment Human Demonstrations

X-Sim: Cross-Embodiment Learning via Real-to-Sim-to-Real

One-Shot Imitation under Mismatched Execution

MOSAIC: A Modular System for Assistive and Interactive Cooking

InteRACT: Transformer Models for Human Intent Prediction Conditioned on Robot Actions

ManiCast: Collaborative Manipulation with Cost-Aware Human Forecasting

A Game-Theoretic Framework for Joint Forecasting and Planning

Rationale-Guided Few-Shot Classification to Detect Abusive Language

Terrain-Aware Learned Controllers for Sampling-Based Kinodynamic Planning over Physically Simulated Terrains

Optimal Multi-Agent Path Finding for Precedence Constrained Planning Tasks

Offensive Language Identification in Dravidian Languages

Robotic Motion Planning Using Learned Critical Sources and Local Sampling