Publications

Conference Papers

Journal Papers

Conference

Sequential Discrete Action Selectionvia Blocking Conditions and Resolutions

Authors: Liam Merz Hoffmeister, Brian Scassellati, Daniel Rakita
Venue: IROS
Year: 2024

An Analysis of Unified Manipulation with Robot Arms and Dexterous Hands via Optimization-based Motion Synthesis

Authors: Vatsal Patel, Daniel Rakita, Aaron Dollar
Venue: ICRA
Year: 2023

RangedIK: An Optimization-based Robot Motion Generation Method for Ranged-Goal Tasks

Authors: Yeping Wang, Pragathi Praveena, Daniel Rakita, Michael Gleicher
Venue: ICRA
Year: 2023

Lively: Enabling Multimodal, Lifelike, and Extensible Real-time Robot Motion

Authors: Andrew Schoen, Dakota Sullivan, Ze Dong Zhang, Daniel Rakita, Bilge Mutlu
Venue: HRI
Year: 2023

PROXIMA: An Approach for Time or Accuracy Budgeted Collision Proximity Queries

Authors: Daniel Rakita, Bilge Mutlu, Michael Gleicher
Venue: Robotics: Science and Systems
Year: 2022

Journal

MotionBenchMaker: A Tool to Generate and Benchmark Motion Planning Datasets

Authors: Constantinos Chamzas, Carlos Quintero-Pena, Zachary Kingston, Andreas Orthey, Daniel Rakita, Michael Gleicher, Marc Toussaint, Lydia E Kavraki
Venue: IEEE Robotics and Automation Letters
Year: 2021