Publications

AI-Powered Semantic Segmentation Model for Enhanced Ureteral Mapping and Real-Time Instrument Feedback in Robotic Colorectal Surgery

Justin M. Bader, Xiatao Sun, Tripp Rosenfelt, Alexis Ramirez-Hardy, Netanel Sapir, Rachel Scheub, Teeratham Vitchutripop, Amit Khanna, Haddon Pantel, Daniel Rakita

Journal: Journal of Robotic Surgery 2026

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

APOLLO Blender: A Robotics Library for Visualization and Animation in Blender

Peter Messina, Daniel Rakita

Preprint 2026

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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

Conference: IROS 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

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

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Coherence-based Approximate Derivatives via Web of Affine Spaces Optimization

Daniel Rakita, Chen Liang, Qian Wang

Conference: RSS 2025 Differentiation

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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

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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