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AI for Robotic Surgery
Automatic Mesh Generation for Robotics
Combining Visual + Manipulation Learning
Computational Differentiation and Vector Recovery
Efficient Optimizers for Neural Networks
LLMs and VLMs for Robot Planning
Motion Generation Algorithms
Real-time, in situ Robot Learning
Software Tools for Robotics Research
Spatial Computing for Embodied Intelligence
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An Analysis of Streaming Deep Reinforcement Learning for Adaptive Continual Learning in Robotics
Teeratham Vitchutripop, Alyssa Quarles, Wenhe Zhang, Richard Xue, Daniel Rakita
Preprint
2026
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APOLLO Blender: A Robotics Library for Visualization and Animation in Blender
Peter Messina, Daniel Rakita
Preprint
2026
PDF
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Beyond URDF: The Universal Robot Description Directory for Shared, Extensible, and Standardized Robot Models
Roshan Klein-Seetharaman, Daniel Rakita
Preprint
2026
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Deep learning approach for critical exposure during division of the inferior mesenteric artery in colorectal surgery
Jay Bader, Xiatao Sun, Tripp Rosenfelt, Alexis Ramirez-Hardy, Teeratham Vitchutripop, Haddon Pantel, Amit Khanna, Daniel Rakita
Journal: Journal of Robotic Surgery
2026
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Hybrid Diffusion Policies with Projective Geometric Algebra for Efficient Robot Manipulation Learning
Xiatao Sun, Yuxuan Wang, Shuo Yang, Yinxing Chen, Daniel Rakita
Conference: ICRA
2026
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Mesh RAG: Retrieval Augmentation for Autoregressive Mesh Generation
Xiatao Sun, Chen Liang, Qian Wang, Daniel Rakita
Preprint
2026
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Optimizing Active Perception for Learning Simultaneous Viewpoint Selection and Manipulation with Diffusion Policy
Xiatao Sun, Francis Fan, Yinxing Chen, Daniel Rakita
Preprint
2026
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PRISM-DP: Spatial Pose-based Observations for Diffusion-Policies via Segmentation, Mesh Generation, and Pose Tracking
Xiatao Sun, Yinxing Chen, Daniel Rakita
Preprint
2026
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Robust and Efficient MuJoCo-based Model Predictive Control via Web of Affine Spaces Derivatives
Chen Liang, Daniel Rakita
Preprint
2026
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SelfCollisionGen: A Robust Tool for Generating and Visualizing Robot Self-Collision Matrices
Roshan Klein-Seetharaman, Daniel Rakita
Preprint
2026
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Subsecond 3D Mesh Generation for Robot Manipulation
Qian Wang, Omar Abdellall, Tony Gao, Xiatao Sun, Daniel Rakita
Conference: ICRA
2026
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Turning Stale Gradients into Stable Gradients: Coherent Coordinate Descent with Implicit Landscape Smoothing for Lightweight Zeroth-Order Optimization
Chen Liang, Xiatao Sun, Qian Wang, Daniel Rakita
Conference: ICML
2026
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ad-trait: A Fast and Flexible Automatic Differentiation Library in Rust
Chen Liang, Qian Wang, Andy Xu, Daniel Rakita
Conference: IROS
2025
Differentiation
Rust
Robotics
PDF
Code
crates.io
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Coherence-based Approximate Derivatives via Web of Affine Spaces Optimization
Daniel Rakita, Chen Liang, Qian Wang
Conference: RSS
2025
Differentiation
PDF
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Dynamic Rank Adjustment in Diffusion Policies for Efficient and Flexible Training
Xiatao Sun, Shuo Yang, Yinxing Chen, Francis Fan, Yiyan Liang, Daniel Rakita
Conference: RSS
2025
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Towards Zero-Knowledge Task Planning via a Language-based Approach
Liam Merz Hoffmeister, Brian Scassellati, Daniel Rakita
Conference: IROS
2025
Task Planning
LLMs
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Sequential Discrete Action Selection via Blocking Conditions and Resolutions
Liam Merz Hoffmeister, Brian Scassellati, Daniel Rakita
Conference: IROS
2024
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An Analysis of Unified Manipulation with Robot Arms and Dexterous Hands via Optimization-based Motion Synthesis
Vatsal Patel, Daniel Rakita, Aaron Dollar
Conference: ICRA
2023
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Lively: Enabling Multimodal, Lifelike, and Extensible Real-time Robot Motion
Andrew Schoen, Dakota Sullivan, Ze Dong Zhang, Daniel Rakita, Bilge Mutlu
Conference: HRI
2023
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RangedIK: An Optimization-based Robot Motion Generation Method for Ranged-Goal Tasks
Yeping Wang, Pragathi Praveena, Daniel Rakita, Michael Gleicher
Conference: ICRA
2023
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PROXIMA: An Approach for Time or Accuracy Budgeted Collision Proximity Queries
Daniel Rakita, Bilge Mutlu, Michael Gleicher
Conference: RSS
2022
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MotionBenchMaker: A Tool to Generate and Benchmark Motion Planning Datasets
Constantinos Chamzas, Carlos Quintero-Pena, Zachary Kingston, Andreas Orthey, Daniel Rakita, Michael Gleicher, Marc Toussaint, Lydia E Kavraki
Journal: IEEE Robotics and Automation Letters
2021
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