publications

For the up-to-date publication list, please see Google Scholar or Semantic Scholar pages.
For coverage of research in press, please see Press & Media.

Preprints

  1. ogvla-2025.jpg
    OG-VLA: 3D-Aware Vision Language Action Model via Orthographic Image Generation.
    Ishika Singh, Ankit Goyal, Stan Birchfield, Dieter Fox, Animesh Garg, and Valts Blukis
    2025
    arXiv Website
  2. amplify-corl25.jpg
    AMPLIFY: Actionless Motion Priors for Robot Learning from Videos.
    Jeremy A. Collins, Loránd Cheng, Kunal Aneja, Albert Wilcox, Benjamin Joffe, and Animesh Garg
    2025
    arXiv Website
  3. anyplace-2025.jpg
    AnyPlace: Learning Generalized Object Placement for Robot Manipulation.
    Yuchi Zhao, Miroslav Bogdanovic, Chengyuan Luo, Steven Tohme, Kourosh Darvish, Alán Aspuru-Guzik, Florian Shkurti, and Animesh Garg
    2025
    arXiv Website
  4. adapt3r-2025.jpg
    Adapt3R: Adaptive 3D Scene Representation for Domain Transfer in Imitation Learning.
    Albert Wilcox, Mohamed Ghanem, Masoud Moghani, Pierre Barroso, Benjamin Joffe, and Animesh Garg
    2025
    arXiv Website
  5. llm-feedback.jpg
    Can LLM feedback enhance review quality? A randomized study of 20K reviews at ICLR 2025.
    Nitya Thakkar, Mert Yuksekgonul, Jake Silberg, Animesh Garg, Nanyun Peng, Fei Sha, Rose Yu, Carl Vondrick, and James Zou
    2025
    arXiv Code
  6. scaling-scientist-25.jpg
    Scaling Laws in Scientific Discovery with AI and Robot Scientists.
    Pengsong Zhang, Heng Zhang, Huazhe Xu, Renjun Xu, Zhenting Wang, Cong Wang, Animesh Garg, Zhibin Li, Arash Ajoudani, and Xinyu Liu
    2025
    arXiv

Papers (peer-reviewed)

  1. acgd-iros25.jpg
    ACGD: Visual Multitask Policy Learning with Asymmetric Critic Guided Distillation.
    Krishnan Srinivasan, Jie Xu, Henry Ang, Eric Heiden, Dieter Fox, Jeannette Bohg, and Animesh Garg
    IEEE International Conference on Intelligent Robots and Systems (IROS), 2025
    PDF Website
  2. climb-2025.jpg
    CLIMB: Language-Guided Continual Learning for Task Planning with Iterative Model Building.
    Walker Byrnes, Miroslav Bogdanovic, Avi Balakirsky, Stephen Balakirsky, and Animesh Garg
    IEEE International Conference on Robotics and Automation (ICRA), 2025
    arXiv Website
  3. rocoda-25.jpg
    RoCoDA: Counterfactual Data Augmentation for Data-Efficient Robot Learning from Demonstrations.
    Ezra Ameperosa, Jeremy A Collins, Mrinal Jain, and Animesh Garg
    IEEE International Conference on Robotics and Automation (ICRA), 2025
    arXiv Website
  4. sufia-bc-25.jpg
    SuFIA-BC: Generating High Quality Demonstration Data for Visuomotor Policy Learning in Surgical Subtasks.
    Masoud Moghani, Nigel Nelson, Mohamed Ghanem, Andres Diaz-Pinto, Kush Hari, Mahdi Azizian, Ken Goldberg, Sean Huver, and Animesh Garg
    IEEE International Conference on Robotics and Automation (ICRA), 2025
    arXiv Video Website
  5. pwm-25.jpg
    PWM: Policy Learning with Large World Models.
    Ignat Georgiev, Varun Giridhar, Nicklas Hansen, and Animesh Garg
    International Conference on Learning Representations (ICLR), 2025
    arXiv Website
  6. egosim-sample.gif
    EgoSim: Egocentric Exploration in Virtual Worlds with Multi-modal Conditioning.
    Wei Yu, Songheng Yin, Steve Easterbrook, and Animesh Garg
    International Conference on Learning Representations (ICLR), 2025
    PDF Website
  7. organa-2025.jpg
    ORGANA: a robotic assistant for automated chemistry experimentation and characterization.
    Kourosh Darvish, Marta Skreta, Yuchi Zhao, Naruki Yoshikawa, Sagnik Som, Miroslav Bogdanovic, Yang Cao, Han Hao, Haoping Xu, Alán Aspuru-Guzik, Animesh Garg, and Florian Shkurti
    Matter, 2025
    arXiv Video Website
  8. ac-icra24.jpg
    Accelerating Discovery in Natural Science Laboratories with AI and Robotics: Perspectives and Challenges from the 2024 IEEE ICRA Workshop, Yokohama, Japan.
    Andrew I. Cooper, Patrick Courtney, Kourosh Darvish, Moritz Eckhoff, Hatem Fakhruldeen, Andrea Gabrielli, Animesh Garg, Sami Haddadin, Kanako Harada, Jason Hein, Maria Hübner, Dennis Knobbe, Gabriella Pizzuto, Florian Shkurti, Ruja Shrestha, Kerstin Thurow, 7 more authors
    Science Robotics, 2025
    arXiv
  9. adademo-24.jpg
    AdaDemo: Data-Efficient Demonstration Expansion for Generalist Robotic Agent.
    Tongzhou Mu, Yijie Guo, Jie Xu, Ankit Goyal, Hao Su, Dieter Fox, and Animesh Garg
    International Symposium on Robotics Research (ISRR), 2024
    arXiv
  10. dexmots-24.jpg
    DexMOTS: Dexterous Manipulation with Differentiable Simulation.
    Krishnan Srinivasan, Jeremy Collins, Eric Heiden, Ian Ng, Jeannette Bohg, and Animesh Garg
    International Symposium on Robotics Research (ISRR), 2024
    arXiv Website
  11. quest-24.jpg
    Quest: Self-supervised skill abstractions for learning continuous control.
    Atharva Mete, Haotian Xue, Albert Wilcox, Yongxin Chen, and Animesh Garg
    Advances in Neural Information Processing Systems (NeurIPS), 2024
    arXiv Website
  12. actaim2-corl24.jpg
    Discovering Robotic Interaction Modes with Discrete Representation Learning.
    Liquan Wang, Ankit Goyal, Haoping Xu, and Animesh Garg
    Conference on Robot Learning (CoRL), 2024
    arXiv Video Website
  13. spire-24.jpg
    SPIRE: Synergistic Planning, Imitation, and Reinforcement Learning for Long-Horizon Manipulation.
    Zihan Zhou, Animesh Garg, Dieter Fox, Caelan Reed Garrett, and Ajay Mandlekar
    Conference on Robot Learning (CoRL), 2024
    arXiv Website
  14. implicit-teleop-24.jpeg
    Fast Explicit-Input Assistance for Teleoperation in Clutter.
    Nick Walker, Xuning Yang, Animesh Garg, Maya Cakmak, Dieter Fox, and Claudia Pérez-D’Arpino
    IEEE International Conference on Intelligent Robots and Systems (IROS), 2024
    arXiv
  15. sufia-24.jpg
    SuFIA: Language-Guided Augmented Dexterity for Robotic Surgical Assistants.
    Masoud Moghani, Lars Doorenbos, William Chung-Ho Panitch, Sean Huver, Mahdi Azizian, Ken Goldberg, and Animesh Garg
    IEEE International Conference on Intelligent Robots and Systems (IROS), 2024
    arXiv Website
  16. ahac-icml24.jpeg
    Adaptive Horizon Actor-Critic for Policy Learning in Contact-Rich Differentiable Simulation.
    Ignat Georgiev, Krishnan Srinivasan, Jie Xu, Eric Heiden, and Animesh Garg
    International Conference on Machine Learning (ICML), 2024
    arXiv Website
  17. handypriors-24.gif
    Handypriors: Physically consistent perception of hand-object interactions with differentiable priors.
    Shutong Zhang, Yi-Ling Qiao, Guanglei Zhu, Eric Heiden, Dylan Turpin, Jingzhou Liu, Ming Lin, Miles Macklin, and Animesh Garg
    IEEE International Conference on Robotics and Automation (ICRA), 2024
    arXiv Website
  18. openx-icra24.jpeg
    Open X-Embodiment: Robotic learning datasets and RT-X models.
    Open X-Embodiment Collaboration
    IEEE International Conference on Robotics and Automation (ICRA), 2024
      ICRA Best Paper Award
    Website
  19. orbit-surgical-24.jpeg
    ORBIT-Surgical: An Open-Simulation Framework for Learning Surgical Augmented Dexterity.
    Qinxi Yu, Masoud Moghani, Karthik Dharmarajan, Vincent Schorp, William Chung-Ho Panitch, Jingzhou Liu, Kush Hari, Huang Huang, Mayank Mittal, Ken Goldberg, and Animesh Garg
    IEEE International Conference on Robotics and Automation (ICRA), 2024
    arXiv Code Website
  20. slotdiffusion-23.jpeg
    Slotdiffusion: Object-centric generative modeling with diffusion models.
    Ziyi Wu, Jingyu Hu, Wuyue Lu, Igor Gilitschenski, and Animesh Garg
    Advances in Neural Information Processing Systems (NeurIPS, 2023
    arXiv Website
  21. cpm-corl23.jpg
    Composable part-based manipulation.
    Weiyu Liu, Jiayuan Mao, Joy Hsu, Tucker Hermans, Animesh Garg, and Jiajun Wu
    Conference on Robot Learning (CoRL), 2023
    arXiv
  22. geommatch-23.jpeg
    Geometry Matching for Multi-Embodiment Grasping.
    Maria Attarian, Muhammad Adil Asif, Jingzhou Liu, Ruthrash Hari, Animesh Garg, Igor Gilitschenski, and Jonathan Tompson
    Conference on Robot Learning (CoRL), 2023
    arXiv Code Website
  23. bench-phys-23.jpg
    Benchmarks for Physical Reasoning AI.
    Andrew Melnik, Robin Schiewer, Moritz Lange, Andrei Ioan Muresanu, saeidi, Animesh Garg, and Helge Ritter
    Transactions on Machine Learning Research (TMLR), 2023
    Survey Certification
    PDF Code
  24. avsi-dharmarajan2023robot.jpg
    Robot-Assisted Vascular Shunt Insertion with the dVRK Surgical Robot.
    Karthik Dharmarajan, Will Panitch, Baiyu Shi, Huang Huang, Lawrence Yunliang Chen, Masoud Moghani, Qinxi Yu, Kush Hari, Thomas Low, Danyal Fer, Animesh Garg, and Ken Goldberg
    Journal of Medical Robotics Research (JMRR), 2023
    link Website
  25. progprompt-icra23.jpg
    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, and Animesh Garg
    IEEE International Conference on Robotics and Automation (ICRA), 2023
    arXiv Website
  26. slotformer-iclr23.gif
    nerf2nerf: Pairwise Registration of Neural Radiance Fields.
    Lily Goli, Daniel Rebain, Sara Sabour, Animesh Garg, and Andrea Tagliasacchi
    IEEE International Conference on Robotics and Automation (ICRA), 2023
    arXiv Code Website
  27. actaim-icra23.gif
    Self-Supervised Learning of Action Affordances as Interaction Modes.
    Liquan Wang, Nikita Dvornik, Rafael Dubeau, Mayank Mittal, and Animesh Garg
    IEEE International Conference on Robotics and Automation (ICRA), 2023
    arXiv Website
  28. dexgrasp-icra23.jpg
    Fast-Grasp’D: Dexterous Multi-finger Grasp Generation Through Differentiable Simulation.
    Dylan Turpin, Tao Zhong, Shutong Zhang, Guanglei Zhu, Jingzhou Liu, Ritvik Singh, Eric Heiden, Miles Macklin, Stavros Tsogkas, Sven Dickinson, and Animesh Garg
    IEEE International Conference on Robotics and Automation (ICRA), 2023
    arXiv Video Website
  29. mvtrans-icra23.jpg
    MVTrans: Multi-View Perception of Transparent Objects.
    Yi Ru Wang, Yuchi Zhao, Haoping XU, Sagi Eppel, Alan Aspuru-Guzik, Florian Shkurti, and Animesh Garg
    IEEE International Conference on Robotics and Automation (ICRA), 2023
    arXiv Video Website
  30. sea-iclr23.jpg
    Learning Achievement Structure for Structured Exploration in Domains with Sparse Reward.
    Zihan Zhou and Animesh Garg
    International Conference on Learning Representations (ICLR), 2023
    Website
  31. slotformer-iclr23.gif
    SlotFormer: Unsupervised Visual Dynamics Simulation with Object-Centric Models.
    Ziyi Wu, Nikita Dvornik, Klaus Greff, Thomas Kipf, and Animesh Garg
    International Conference on Learning Representations (ICLR), 2023
    arXiv Website
  32. disect-rss21.gif
    DiSECt: A Differentiable Simulator for Parameter Inference and Control in Robotic Cutting.
    Eric Heiden, Miles Macklin, Yashraj Narang, Dieter Fox, Animesh Garg, and Fabio Ramos
    Autonomous Robots (AURO), 2023
    arXiv Video Blog Code Website
  33. orbit-ral23.gif
    ORBIT: A Unified Simulation Framework for Interactive Robot Learning Environments.
    Mayank Mittal, Calvin Yu, Qinxi Yu, Jingzhou Liu, Nikita Rudin, David Hoeller, Jia Lin Yuan, Pooria Poorsarvi Tehrani, Ritvik Singh, Yunrong Guo, Hammad Mazhar, Ajay Mandlekar, Buck Babich, Gavriel State, Marco Hutter, and Animesh Garg
    IEEE Robotics and Automation Letters (RA-L) and ICRA, 2023
    arXiv Code Website
  34. rl-surg-sim-journal.jpg
    Integration of reinforcement learning in a virtual robotic surgical simulation.
    Alexandra T Bourdillon, Animesh Garg, Hanjay Wang, Y Joseph Woo, Marco Pavone, and Jack Boyd
    Journal of Surgical Innovation, 2023
  35. digital-pipette-23.jpeg
    Digital pipette: open hardware for liquid transfer in self-driving laboratories.
    Naruki Yoshikawa, Kourosh Darvish, Mohammad Ghazi Vakili, Animesh Garg, and Alán Aspuru-Guzik
    Digital Discovery, 2023
    DOI
  36. llm-auro-23.gif
    Large language models for chemistry robotics.
    Naruki Yoshikawa, Marta Skreta, Kourosh Darvish, Sebastian Arellano-Rubach, Zhi Ji, Lasse Bjørn Kristensen, Andrew Zou Li, Yuchi Zhao, Haoping Xu, Artur Kuramshin, Alán Aspuru-Guzik, Florian Shkurti, and Animesh Garg
    Autonomous Robots (AURO), 2023
    DOI Website
  37. progprompt-singh2023progprompt.jpg
    ProgPrompt: program generation for situated robot task planning using large language models.
    Ishika Singh, Valts Blukis, Arsalan Mousavian, Ankit Goyal, Danfei Xu, Jonathan Tremblay, Dieter Fox, Jesse Thomason, and Animesh Garg
    Autonomous Robots (AURO), 2023
    DOI Website
  38. bom-corl22.jpg
    Bayesian Object Models for Robotic Interaction with Differentiable Probabilistic Programming.
    Krishna Murthy Jatavallabhula, Miles Macklin, Dieter Fox, Animesh Garg, and Fabio Ramos
    Conference on Robot Learning (CoRL), 2022
    PDF Website
  39. robotube-corl22.jpg
    RoboTube: Learning Household Manipulation from Human Videos with Simulated Twin Environments.
    Haoyu Xiong, Haoyuan Fu, Jieyi Zhang, Chen Bao, Qiang Zhang, Yongxi Huang, Wenqiang Xu, Animesh Garg, and Cewu Lu
    Conference on Robot Learning (CoRL), 2022
      Oral Presentation
    PDF Video Website
  40. breaking-bad-neurips22.jpg
    Breaking Bad: A Dataset for Geometric Fracture and Reassembly.
    Silvia Sellán, Yun-Chun Chen, Ziyi Wu, Animesh Garg, and Alec Jacobson
    Advances in Neural Information Processing Systems (NeurIPS) Datasets and Benchmarks, 2022
      Featured Paper Presentation
    arXiv PDF Website
  41. smpl-neurips22.jpg
    SMPL: Simulated Industrial Manufacturing and Process Control Learning Environments.
    Mohan Zhang, Xiaozhou Wang, Benjamin Decardi-Nelson, Bo Song, An Zhang, Jinfeng Liu, Sile Tao, Jiayi Cheng, Xiaohong Liu, Dengdeng Yu, Matthew Poon, and Animesh Garg
    Advances in Neural Information Processing Systems (NeurIPS) Datasets and Benchmarks, 2022
    arXiv Code Website
  42. mocoda-neurips22.jpg
    MoCoDA: Model-based Counterfactual Data Augmentation.
    Silviu Pitis, Elliot Creager, Ajay Mandlekar, and Animesh Garg
    Advances in Neural Information Processing Systems (NeurIPS), 2022
    arXiv
  43. mqn-cqr.jpg
    Monotonic Quantile Network for Worst-Case Offline Reinforcement Learning.
    Chenjia Bai, Ting Xiao, Zhoufan Zhu, Lingxiao Wang, Fan Zhou, Animesh Garg, Bin He, Peng Liu, and Zhaoran Wang
    IEEE Transactions on Neural Networks and Learning Systems, 2022
    PDF
  44. InfoCNF: An Efficient Conditional Continuous Normalizing Flow with Adaptive Solvers.
    Tan M. Nguyen, Animesh Garg, Richard G. Baraniuk, and Anima Anandkumar
    IEEE Asilomar Conference on Signals, Systems, and Computers, 2022
    arXiv
  45. s2r2-21.gif
    Transferring Dexterous Manipulation from GPU Simulation to a Remote Real-World TriFinger.
    Arthur Allshire, Mayank Mittal, Varun Lodaya, Viktor Makoviychuk, Denys Makoviichuk, Felix Widmaier, Manuel Wüthrich, Stefan Bauer, Ankur Handa, and Animesh Garg
    IEEE International Conference on Intelligent Robots and Systems (IROS), 2022
    arXiv Website
  46. mm-articulated-arxiv21.gif
    Articulated Object Interaction in Unknown Scenes with Whole-Body Mobile Manipulation.
    Mayank Mittal, David Hoeller, Farbod Farshidian, Marco Hutter, and Animesh Garg
    IEEE International Conference on Intelligent Robots and Systems (IROS), 2022
    arXiv Website
  47. graspd-eccv22.gif
    Grasp’D: Differentiable Contact-rich Grasp Synthesis for Multi-fingered Hands.
    Dylan Turpin, Liquan Wang, Eric Heiden, Yun-Chun Chen, Miles Macklin, Stavros Tsogkas, Sven Dickinson, and Animesh Garg
    European Conference on Computer Vision (ECCV), 2022
      Oral (Top 2.7%)
    arXiv Video Code Website
  48. cfvi-pami22.jpg
    Continuous-Time Fitted Value Iteration for Robust Policies.
    Michael Lutter, Boris Belousov, Shie Mannor, Dieter Fox, Animesh Garg, and Jan Peters
    Transactions on Pattern Analysis and Machine Intelligence (PAMI), 2022
    arXiv Website
  49. koopman-rl-iclr22.jpg
    Koopman Q-learning: Offline Reinforcement Learning via Symmetries of Dynamics.
    Matthias Weissenbacher, Samarth Sinha, Animesh Garg, and Yoshinobu Kawahara
    International Conference on Machine Learning (ICML), 2022
    arXiv
  50. lfiw-l4dc22.jpg
    Experience Replay with Likelihood-free Importance Weights.
    Samarth Sinha, Jiaming Song, Animesh Garg, and Stefano Ermon
    Learning for Dynamics and Control (L4DC), 2022
      Best Paper Finlist
    arXiv
  51. glide-arxiv21.gif
    GLiDE: Generalizable Quadrupedal Locomotion in Diverse Environments with a Centroidal Model.
    Zhaoming Xie, Xingye Da, Buck Babich, Animesh Garg, and Michiel van de Panne
    Workshop on Algorithmic Foundations of Robotics (WAFR), 2022
    arXiv Website
  52. xpool-cvpr22.jpg
    X-Pool: Cross-Modal Language-Video Attention for Text-Video Retrieval.
    Satya Krishna Gorti, Noel Vouitsis, Junwei Ma, Keyvan Golestan, Maksims Volkovs, Animesh Garg, and Guangwei Yu
    IEEE Conference on Computer Vision and Pattern Recognition (CVPR), 2022
    arXiv Code Website
  53. mac-arxiv21.gif
    Modular Action Concept Grounding in Semantic Video Prediction.
    Wei Yu, Wenxin Chen, Songheng Yin, Steve Easterbrook, and Animesh Garg
    IEEE Conference on Computer Vision and Pattern Recognition (CVPR), 2022
    arXiv Website
  54. nsm-cvpr22.jpg
    Neural Shape Mating: Self-Supervised Object Assembly with Adversarial Shape Priors.
    Yun-Chun Chen, Haoda Li, Dylan Turpin, Alec Jacobson, and Animesh Garg
    IEEE Conference on Computer Vision and Pattern Recognition (CVPR), 2022
    Website
  55. res-pbrl-iclr22.jpg
    Pessimistic Bootstrapping for Uncertainty-Driven Offline Reinforcement Learning.
    Chenjia Bai, Lingxiao Wang, Zhuoran Yang, Zhi-Hong Deng, Animesh Garg, Peng Liu, and Zhaoran Wang
    International Conference on Learning Representations (ICLR), 2022
    arXiv
  56. res-vagram-iclr22.jpg
    Value Gradient weighted Model-Based Reinforcement Learning.
    Claas A Voelcker, Victor Liao, Animesh Garg, and Amir-massoud Farahmand
    International Conference on Learning Representations (ICLR), 2022
    arXiv PDF
  57. res-shac-iclr22.jpg
    Accelerated Policy Learning with Parallel Differentiable Simulation.
    Jie Xu, Viktor Makoviychuk, Yashraj Narang, Fabio Ramos, Wojciech Matusik, Animesh Garg, and Miles Macklin
    International Conference on Learning Representations (ICLR), 2022
    PDF Website
  58. plate-21.jpg
    PlaTe: Visually-Grounded Planning with Transformers in Procedural Tasks.
    Jiankai Sun, De-An Huang, Bo Lu, Yun-Hui Liu, Bolei Zhou, and Animesh Garg
    IEEE Robotics and Automation Letters (RA-L) and ICRA, 2022
    arXiv Code Website
  59. marco2021.jpg
    Centralized Model and Exploration Policy for Multi-Agent RL.
    Qizhen Zhang, Chris Lu, Animesh Garg, and Jakob Foerster
    International Conference on Autonomous Agents and Multi-Agent Systems (AAMAS), 2022
      Oral Presentation
    arXiv
  60. Convergence and Optimality of Policy Gradient Methods in Weakly Smooth Settings.
    Matthew Shunshi Zhang, Murat Erdogdu, and Animesh Garg
    Confernce on Artificial Intelligence (AAAI), 2022
    arXiv
  61. trifinger-report.jpg
    Real Robot Challenge: A Robotics Competition in the Cloud.
    Stefan Bauer, Manuel Wüthrich, Felix Widmaier, Annika Buchholz, Sebastian Stark, Anirudh Goyal, Thomas Steinbrenner, Joel Akpo, Shruti Joshi, Vincent Berenz, Vaibhav Agrawal, Niklas Funk, Julen Urain De Jesus, Jan Peters, Joe Watson, Claire Chen, 25 more authors
    Neural Information Processing Systems (NeurIPS) Competitions and Demonstrations Track, 2021
    arXiv PDF
  62. db-neurips21.jpg
    Dynamic Bottleneck for Robust Self-Supervised Exploration.
    Chenjia Bai, Lingxiao Wang, Lei Han, Animesh Garg, Jianye Hao, Peng Liu, and Zhaoran Wang
    Advances in Neural Information Processing Systems (NeurIPS), 2021
    arXiv
  63. nha-neurips21.jpg
    Neural Hybrid Automata: Learning Dynamics with Multiple Modes and Stochastic Transitions.
    Michael Poli, Stefano Massaroli, Luca Scimeca, Seong Joon Oh, Sanghyuk Chun, Atsushi Yamashita, Hajime Asama, Jinkyoo Park, and Animesh Garg
    Advances in Neural Information Processing Systems (NeurIPS), 2021
    arXiv
  64. drop-dtw21.jpg
    Drop-DTW: Aligning Common Signal Between Sequences While Dropping Outliers.
    Nikita Dvornik, Isma Hadji, Konstantinos G. Derpanis, Animesh Garg, and Allan D. Jepson
    Advances in Neural Information Processing Systems (NeurIPS), 2021
    arXiv
  65. corl21-transparenet.gif
    Seeing Glass: Joint Point-Cloud and Depth Completion for Transparent Objects.
    Haoping Xu, Yi Ru Wang, Sagi Eppel, Alan Aspuru-Guzik, Florian Shkurti, and Animesh Garg
    Conference on Robot Learning (CoRL), 2021
      Oral Presentation
    arXiv Code Website
  66. s4rl-offline-rl-arxiv21.jpg
    S4RL: Surprisingly Simple Self-Supervision for Offline Reinforcement Learning.
    Samarth Sinha, Ajay Mandlekar, and Animesh Garg
    Conference on Robot Learning (CoRL), 2021
    arXiv
  67. corl21-hlsm.gif
    A Persistent Spatial Semantic Representation for High-level Natural Language Instruction Execution.
    Valts Blukis, Chris Paxton, Dieter Fox, Animesh Garg, and Yoav Artzi
    Conference on Robot Learning (CoRL), 2021
    arXiv Code Poster Website
  68. lbw-arxiv21.gif
    Learning by Watching: Physical Imitation of Manipulation Skills from Human Videos.
    Haoyu Xiong, Quanzhou Li, Yun-Chun Chen, Homanga Bharadhwaj, Samarth Sinha, and Animesh Garg
    IEEE International Conference on Intelligent Robots and Systems (IROS), 2021
    arXiv Video Website
  69. losey_auro2021.jpeg
    Learning Latent Actions to Control Assistive Robots.
    Dylan P. Losey, Hong Jun Jeon, Mengxi Li, Krishnan Srinivasan, Ajay Mandlekar, Animesh Garg, Jeannette Bohg, and Dorsa Sadigh
    Autonomous Robots (AURO), 2021
    arXiv
  70. rfvi-rss21.jpg
    Robust Value Iteration for Continuous Control Tasks.
    Michael Lutter, Shie Mannor, Jan Peters, Dieter Fox, and Animesh Garg
    Robotics: Systems and Science (RSS), 2021
    arXiv Website
  71. gift-rss21.gif
    GIFT: Generalizable Interaction-aware Functional Tool Affordances without Labels.
    Dylan Turpin, Liquan Wang, Stavros Tsogkas, Sven Dickinson, and Animesh Garg
    Robotics: Systems and Science (RSS), 2021
    arXiv Video Blog
  72. disect-rss21.gif
    DiSeCT: A Differentiable Simulation Engine for Autonomous Robotic Cutting.
    Eric Heiden, Miles Macklin, Yashraj Narang, Dieter Fox, Animesh Garg, and Fabio Ramos
    Robotics: Systems and Science (RSS), 2021
      Best Student Paper Award
    arXiv Video Blog Code Website
  73. cfvi-icml21.jpg
    Value Iteration in Continuous Actions, States and Time.
    Michael Lutter, Shie Mannor, Jan Peters, Dieter Fox, and Animesh Garg
    International Conference on Machine Learning (ICML), 2021
    arXiv Website
  74. ob2i-icml21.jpg
    Principled Exploration via Optimistic Bootstrapping and Backward Induction.
    Chenjia Bai, Lingxiao Wang, Lei Han, Jianye Hao, Animesh Garg, Peng Liu, and Zhaoran Wang
    International Conference on Machine Learning (ICML), 2021
    arXiv Code
  75. coach-icml21.jpg
    Coach-Player Multi-agent Reinforcement Learning for Dynamic Team Composition.
    Bo Liu, Qiang Liu, Lei Han, Peter Stone, Animesh Garg, Yuke Zhu, and Anima Anandkumar
    International Conference on Machine Learning (ICML), 2021
      Long Talk
    arXiv
  76. tesseract-icml21.jpg
    Tesseract: Tensorised Actors for Multi-Agent Reinforcement Learning.
    Anuj Mahajan, Mikayel Samvelyan, Lei Mao, Viktor Makoviychuk, Animesh Garg, Jean Kossaifi, Shimon Whiteson, Yuke Zhu, and Anima Anandkumar
    International Conference on Machine Learning (ICML), 2021
    arXiv
  77. laser-icra21.jpg
    LASER: Learning a Latent Action Space for Efficient Reinforcement Learning.
    Arthur Allshire, Roberto Martin-Martin, Charles Lin, Shawn Mendes, Silvio Savarese, and Animesh Garg
    IEEE International Conference on Robotics and Automation (ICRA), 2021
    arXiv Video Website
  78. dynrand-icra21.gif
    Dynamics Randomization Revisited:A Case Study for Quadrupedal Locomotion.
    Zhaoming Xie, Xingye Da, Michiel van de Panne, Buck Babich, and Animesh Garg
    IEEE International Conference on Robotics and Automation (ICRA), 2021
    arXiv Website
  79. leaf-icra21.gif
    LEAF: Latent Exploration Along the Frontier.
    Homanga Bharadhwaj, Animesh Garg, and Florian Shkurti
    IEEE International Conference on Robotics and Automation (ICRA), 2021
    arXiv Website
  80. labo-icra21.gif
    Emergent Hand Morphology and Control from Optimizing Robust Grasps of Diverse Objects.
    Xinlei Pan, Animesh Garg, Animashree Anandkumar, and Yuke Zhu
    IEEE International Conference on Robotics and Automation (ICRA), 2021
    arXiv Website
  81. lsp-iclr21.jpg
    Latent Skill Planning for Exploration and Transfer.
    Kevin Xie, Homanga Bharadhwaj, Danijar Hafner, Animesh Garg, and Florian Shkurti
    International Conference on Learning Representations (ICLR), 2021
    arXiv Website
  82. clearning-iclr21.gif
    C-Learning: Horizon-Aware Cumulative Accessibility Estimation.
    Panteha Naderian, Gabriel Loaiza-Ganem, Harry J. Braviner, Anthony L. Caterini, Jesse C. Cresswell, Tong Li, and Animesh Garg
    International Conference on Learning Representations (ICLR), 2021
    arXiv Website
  83. csc-iclr21.gif
    Conservative Safety Critics for Exploration.
    Homanga Bharadhwaj, Aviral Kumar, Nicholas Rhinehart, Sergey Levine, Florian Shkurti, and Animesh Garg
    International Conference on Learning Representations (ICLR), 2021
    arXiv Website
  84. dibs-aaai21.jpg
    DIBS: Diversity inducing Information Bottleneck in Model Ensembles.
    Samarth Sinha, Homanga Bharadhwaj, Anirudh Goyal, Hugo Larochelle, Animesh Garg, and Florian Shkurti
    Confernce on Artificial Intelligence (AAAI), 2021
    arXiv
  85. unsup-kp-pami21.gif
    Unsupervised Disentanglement of Pose, Appearance and Background from Images and Videos.
    Aysegul Dundar, Kevin J. Shih, Animesh Garg, Robert Pottorf, Andrew Tao, and Bryan Catanzaro
    Transactions on Pattern Analysis and Machine Intelligence (PAMI), 2021
    arXiv Code
  86. vcdn-neurips20.gif
    Causal Discovery in Physical Systems from Videos.
    Yunzhu Li, Antonio Torralba, Animashree Anandkumar, Dieter Fox, and Animesh Garg
    Advances in Neural Information Processing Systems 33 (NeurIPS), 2020
    arXiv Website
  87. coda-neurips21.jpeg
    Counterfactual Data Augmentation using Locally Factored Dynamics.
    Silviu Pitis, Elliot Creager, and Animesh Garg
    Advances in Neural Information Processing Systems 33 (NeurIPS), 2020
      Outstanding Paper Award at Object-Oriented Learning Workshop, ICML 2020
    arXiv Code
  88. cbs-neurips20.jpeg
    Curriculum By Smoothing.
    Samarth Sinha, Animesh Garg, and Hugo Larochelle
    Advances in Neural Information Processing Systems 33 (NeurIPS), 2020
      Spotlight Talk
    arXiv
  89. adaptive-corl21.gif
    Learning a Contact-Adaptive Controller for Robust, Efficient Legged Locomotion.
    Xingye Da, Zhaoming Xie, David Hoeller, Byron Boots, Animashree Anandkumar, Yuke Zhu, Buck Babich, and Animesh Garg
    Conference on Robot Learning (CoRL), 2020
    arXiv Video Blog
  90. visuomotor-ms-iros20.gif
    Visuomotor Mechanical Search: Learning to Retrieve Target Objects in Clutter.
    Andrey Kurenkov, Joseph Taglic, Rohun Kulkarni, Marcus Dominguez-Kuhne, Animesh Garg, Roberto Martín-Martín, and Silvio Saverese
    IEEE International Conference on Intelligent Robots and Systems (IROS), 2020
    arXiv Website
  91. ocean-uai21.gif
    Ocean: Online Task Inference for Compositional Tasks with Context Adaptation.
    Hongyu Ren, Yuke Zhu, Jure Leskovec, Anima Anandkumar, and Animesh Garg
    Conference on Uncertainty in Artificial Intelligence (UAI), 2020
    arXiv PDF Code
  92. condensa-micro20.jpg
    A Programmable Approach to Neural Network Compression.
    Vinu Joseph, Ganesh Gopalakrishnan, Saurav Muralidharan, Michael Garland, and Animesh Garg
    IEEE Micro, 2020
    arXiv PDF Code Website
  93. s3gan-icml20.gif
    Semi-Supervised StyleGAN for Disentanglement Learning.
    Weili Nie, Tero Karras, Animesh Garg, Shoubhik Debhath, Anjul Patney, Ankit B. Patel, and Anima Anandkumar
    International Conference on Machine Learning (ICML), 2020
    arXiv Code Slides Website
  94. avh-icml20.jpg
    Angular Visual Hardness.
    Beidi Chen, Weiyang Liu, Animesh Garg, Zhiding Yu, Anshumali Shrivastava, Jan Kautz, and Anima Anandkumar
    International Conference on Machine Learning (ICML), 2020
    arXiv PDF Slides
  95. lsc-icra20.gif
    Controlling Assistive Robots with Learned Latent Actions.
    Dylan P. Losey, Krishnan Srinivasan, Ajay Mandlekar, Animesh Garg, and Dorsa Sadigh
    IEEE International Conference on Robotics and Automation (ICRA), 2020
    arXiv Video Blog
  96. iris-icra20.gif
    IRIS: Implicit Reinforcement without Interaction at Scale for Learning Control from Offline Robot Manipulation Data.
    Ajay Mandlekar, Fabio Ramos, Byron Boots, Silvio Savarese, Li Fei-Fei, Animesh Garg, and Dieter Fox
    IEEE International Conference on Robotics and Automation (ICRA), 2020
    arXiv Video Website
  97. motion-reasoning-iros19.gif
    Motion Reasoning for Goal-Based Imitation Learning.
    De-An Huang, Yu-Wei Chao, Chris Paxton, Xinke Deng, Li Fei-Fei, Juan Carlos Niebles, Animesh Garg, and Dieter Fox
    IEEE International Conference on Robotics and Automation (ICRA), 2020
    arXiv Video
  98. guapo-icra20.jpg
    Guided Uncertainty-Aware Policy Optimization: Combining Learning and Model-Based Strategies for Sample-Efficient Policy Learning.
    Michelle A. Lee, Carlos Florensa, Jonathan Tremblay, Nathan Ratliff, Animesh Garg, Fabio Ramos, and Dieter Fox
    IEEE International Conference on Robotics and Automation (ICRA), 2020
      Best Paper Award at 2019 Neurips Workshop on Robot Learning
    arXiv Video
  99. lee-tro20-making.jpeg
    Making Sense of Vision and Touch: Learning Multimodal Representations for Contact-Rich Tasks.
    Michelle A. Lee, Yuke Zhu, Peter Zachares, Matthew Tan, Krishnan Srinivasan, Silvio Savarese, Li Fei-Fei, Animesh Garg, and Jeannette Bohg
    IEEE Transactions on Robotics (TRO), 2020
    arXiv Website
  100. vices-19.jpg
    Variable Impedance Control in End-Effector Space: An Action Space for Reinforcement Learning in Contact-Rich Tasks.
    Roberto Martı́n-Martı́n, Michelle A Lee, Rachel Gardner, Silvio Savarese, Jeannette Bohg, and Animesh Garg
    IEEE International Conference on Intelligent Robots and Systems (IROS), 2019
    arXiv Website
  101. roboturk-real-iros19.gif
    Scaling Robot Supervision to Hundreds of Hours with RoboTurk: Robotic Manipulation Dataset through Human Reasoning and Dexterity.
    Ajay Mandlekar, Jonathan Booher, Max Spero, Albert Tung, Anchit Gupta, Yuke Zhu, Animesh Garg, Silvio Savarese, and Li Fei-Fei
    IEEE International Conference on Intelligent Robots and Systems (IROS), 2019
      IROS Best Cognitive Robotics Paper Finalist
    arXiv Blog Code Website
  102. Continuous Relaxation of Symbolic Planner for One-Shot Imitation Learning.
    De-An Huang, Danfei Xu, Yuke Zhu, Animesh Garg, Silvio Savarese, Li Fei-Fei, and Juan Carlos Carlos
    IEEE International Conference on Intelligent Robots and Systems (IROS), 2019
    arXiv Video
  103. cavin-corl19.gif
    Dynamics Learning with Cascaded Variational Inference for Multi-Step Manipulation.
    Kuan Fang, Yuke Zhu, Animesh Garg, Silvio Savarese, and Li Fei-Fei
    Conference on Robot Learning (CoRL), 2019
      Oral Presentation
    arXiv Website
  104. acteach-corl19.gif
    AC-Teach: A Bayesian Actor-Critic Method for Policy Learning with an Ensemble of Suboptimal Teachers.
    Andrey Kurenkov, Ajay Mandlekar, Roberto Martín-Martín, Silvio Savarese, and Animesh Garg
    Conference on Robot Learning (CoRL), 2019
    arXiv Blog Code Website
  105. Learning Task-Oriented Grasping for Tool Manipulation from Simulated Self-Supervision.
    Kuan Fang, Yuke Zhu, Animesh Garg, Andrey Kurenkov, Viraj Mehta, Li Fei-Fei, and Silvio Savarese
    International Journal of Robotics Research (IJRR), 2019
    PDF Video Website
  106. ntg-cvpr19.jpeg
    Neural Task Graphs: Generalizing to unseen tasks from a single video demonstration.
    De-An Huang, Suraj Nair, Danfei Xu, Yuke Zhu, Animesh Garg, Li Fei-Fei, Silvio Savarese, and Juan Carlos Niebles
    IEEE Conference on Computer Vision and Pattern Recognition (CVPR), 2019
      Oral Presentation
    arXiv Video
  107. multimodal-icra19.gif
    Making Sense of Vision and Touch: Self-Supervised Learning of Multimodal Representations for Contact-Rich Tasks.
    Michelle A Lee*, Yuke Zhu*, Krishnan Srinivasan, Parth Shah, Silvio Savarese, Li Fei-Fei, Animesh Garg, and Jeannette contribution)
    IEEE International Conference on Robotics and Automation (ICRA), 2019
      ICRA Best Paper Award and Finalist: Best Cognitive Robotics Paper
    arXiv Video Website
  108. mechsearch-icra19.gif
    Mechanical Search: Multi-Step Retrieval of a Target Object Occluded by Clutter.
    Mike Danielczuk, Andrey Kurenkov, Ashwin Balakrishna, Matthew Matl, Roberto Martín-Martín, Animesh Garg, Silvio Savarese, and Ken Goldberg
    IEEE International Conference on Robotics and Automation (ICRA), 2019
    Abs arXiv Video Website
  109. ROBOTURK: A Crowdsourcing Platform for Robotic Skill Learning through Imitation.
    Ajay Mandlekar, Yuke Zhu, Animesh Garg, Jonathan Booher, Max Spero, Albert Tung, Julian Gao, John Emmons, Anchit Gupta, Emre Orbay, Silvio Savarese, and Li Fei-Fei
    Conference on Robot Learning (CoRL), 2018
    arXiv PDF Blog Code Website
  110. tog-rss18.jpeg
    Learning Task-Oriented Grasping for Tool Manipulation from Simulated Self-Supervision.
    Kuan Fang, Yuke Zhu, Animesh Garg, Andrey Kurenkov, Viraj Mehta, Li Fei-Fei, and Silvio Savarese
    Robotics: Systems and Science (RSS), 2018
    arXiv Video Website
  111. SWIRL: A Sequential Windowed Inverse Reinforcement Learning Algorithm for Robot Tasks With Delayed Rewards.
    Sanjay Krishnan, Animesh Garg, Richard Liaw, Brijen Thananjeyan, Lauren Miller, Florian T Pokorny, and Ken Goldberg
    International Journal of Robotics Research (IJRR), 2018
    link PDF
  112. finding-it-cvpr18.jpeg
    Finding It: Weakly-Supervised Reference-Aware Visual Grounding in Instructional Video.
    De-An Huang, Shyamal Buch, Lucio Dery, Animesh Garg, Li Fei-Fei, and Juan Carlos Niebles
    IEEE Conference on Computer Vision and Pattern Recognition (CVPR), 2018
      Oral Presentation
    PDF Poster Website
  113. ntp-icra18.gif
    Neural Task Programming: Learning to generalize across hierarchical tasks.
    Danfei Xu, Suraj Nair, Yuke Zhu, Julian Gao, Animesh Garg, Li Fei-Fei, and Silvio Savarese
    IEEE International Conference on Robotics and Automation (ICRA), 2018
    arXiv Video Website
  114. DeformNet: Free-Form Deformation Network for 3D Shape Reconstruction from a Single Image.
    Andrey Kurenkov*, Jingwei Ji*, Animesh Garg, Viraj Mehta, JunYoung Gwak, Christopher Choy, and Silvio contribution)
    IEEE Winter Conference on Applications of Computer Vision (WACV), 2018
    arXiv Website
  115. AdaPT: Zero-Shot Adaptive Policy Transfer for Stochastic Dynamical Systems.
    James Harrison*, Animesh Garg*, Boris Ivanovic, Yuke Zhu, Silvio Savarese, Li Fei-Fei, and Marco contribution)
    International Symposium on Robotics Research (ISRR), 2017
    arXiv
  116. Transition State Clustering: Unsupervised surgical trajectory segmentation for robot learning.
    Sanjay Krishnan*, Animesh Garg*, Sachin Patil, Colin Lea, Gregory Hager, Pieter Abbeel, and Ken contribution)
    International Journal of Robotics Research (IJRR), 2017
    PDF Code
  117. Weakly supervised 3D Reconstruction with Adversarial Constraint.
    JunYoung Gwak*, Christopher B Choy*, Animesh Garg, Manmohan Chandraker, and Silvio contribution)
    IEEE Conference on 3D Vision (3DV), 2017
    arXiv Code
  118. Adversarially Robust Policy Learning: Active Construction of Physically-Plausible Perturbations.
    Ajay Mandlekar*, Yuke Zhu*, Animesh Garg*, Li Fei-Fei, and Silvio contribution)
    IEEE International Conference on Intelligent Robots and Systems (IROS), 2017
    PDF Video Website
  119. Multilateral Surgical Pattern Cutting in 2D Orthotropic Gauze with Deep Reinforcement Learning Policies for Tensioning.
    Brijen Thananjeyan, Animesh Garg, Sanjay Krishnan, Carolyn Chen, Lauren Miller, and Ken Goldberg
    IEEE International Conference on Robotics and Automation (ICRA), 2017
    PDF Video
  120. SWIRL: A Sequential Windowed Inverse Reinforcement Learning Algorithm for Robot Tasks With Delayed Rewards.
    Sanjay Krishnan, Animesh Garg, Richard Liaw, Brijen Thananjeyan, Lauren Miller, Florian T Pokorny, and Ken Goldberg
    Workshop on Algorithmic Foundations of Robotics (WAFR), 2016
    PDF
  121. pida-case16.gif
    Interchangeable Surgical Instrument System with Application to Supervised Automation of Multilateral Tumor Resection. .
    Stephen McKinley, Animesh Garg, Siddarth Sen, David V. Gealy, Jonathan McKinley, Yiming Jen, Menglung Guo, Doug Boyd, and Ken Goldberg
    IEEE International Conference on Automation Science & Engg. (CASE), 2016
      Best Video Award at 2015 Hamlyn Symposium
    Video Website
  122. TSC-DL: Unsupervised Trajectory Segmentation of Multi-Modal Surgical Demonstrations with Deep Learning .
    Adithyavairavan Murali*, Animesh Garg*, Sanjay Krishnan*, Florian Pokorny, Pieter Abbeel, Trevor Darrell, and Ken contribution)
    IEEE International Conference on Robotics & Automation (ICRA), 2016
    Video Code Website
  123. amts-icra16.gif
    Automating Multi-Throw Multilateral Surgical Suturing with a Mechanical Needle Guide and Sequential Convex Optimization.
    Siddarth Sen*, Animesh Garg*, David Gealy, Stephen McKinley, Yiming Jen, and Ken contribution)
    IEEE International Conference on Robotics & Automation (ICRA), 2016
    Video Website
  124. gpas-case16.jpg
    Tumor localization using automated palpation with Gaussian Process Adaptive Sampling.
    Animesh Garg, Siddarth Sen, Rishi Kapadia, Yiming Jen, Stephen McKinley, Lauren Miller, and Ken Goldberg
    IEEE International Conference on Automation Science & Engg. (CASE), 2016
    PDF Website
  125. sensor-case15.jpg
    A Single-Use Haptic Palpation Probe for Locating Subcutaneous Blood Vessels in Robot-Assisted Minimally Invasive Surgery.
    Stephen McKinley, Animesh Garg, Siddarth Sen, Rishi Kapadia, Adithyavairavan Murali, Kirk Nichols, Susan Lim, Sachin Patil, Pieter Abbeel, Allison M. Okamura, and Ken Goldberg
    IEEE International Conference on Automation Science & Engg. (CASE), 2015
      Best Poster/Demo Award at ICRA 2015 Workshop on Shared Frameworks for Medical Robotics
    Abs PDF
  126. lbo-icra15.gif
    Learning by Observation for Surgical Subtasks: Multilateral Cutting of 3D Viscoelastic and 2D Orthotropic Tissue Phantoms.
    Adithyavairavan Murali, Siddarth Sen, Ben Kehoe, Animesh Garg, Seth McFarland, Sachin Patil, W Douglas Boyd, Susan Lim, Pieter Abbeel, and Ken Goldberg
    IEEE International Conference on Robotics & Automation (ICRA), 2015
      Finalist: Best Paper, Student Paper, and Medical Robotics Paper Award
    Abs PDF Video
  127. Transition State Clustering: Unsupervised Surgical Trajectory Segmentation For Robot Learning.
    Sanjay Krishnan*, Animesh Garg*, Sachin Patil, Colin Lea, Gregory Hager, Pieter Abbeel, and Ken contribution)
    International Symposium on Robotics Research (ISRR), 2015
    Code
  128. Evaluation of PC‐ISO for customized, 3D printed, gynecologic 192Ir HDR brachytherapy applicators.
    Katherine Mellis, Timmy Siauw, Atchar Sudhyadhom, Rajni Sethi, I-Chow Hsu, Jean Pouliot, Animesh Garg, and Ken Goldberg
    Journal of Applied Clinical Medical Physics (JACMP), 2015
    Website
  129. Exact Reachability Analysis for Planning Skew-Line Needle Arrangements for Automated Brachytherapy.
    Animesh Garg, Timmy Siauw, Guang Yang, Sachin Patil, J Adam M Cunha, I-Chow Hsu, Jean Pouliot, Alper Atamtürk, and Ken Goldberg
    IEEE International Conference on Automation Science & Engg. (CASE), 2014
    Abs PDF
  130. Customized Needle Guides for Inserting Non-Parallel Needle Arrangements in Prostate HDR Brachytherapy: A Phantom Study.
    Timmy Siauw, J. Adam M. Cunha, Animesh Garg, Ken Goldberg, I Hsu, and Jean Pouliot
    Brachytherapy, 2014
    PDF
  131. Robot-Guided Open-Loop Insertion of Skew-Line Needle Arrangements for High Dose Rate Brachytherapy.
    Animesh Garg, Timmy Siauw, Dmitry Berenson, J Adam M Cunha, I-C Hsu, Jean Pouliot, Dan Stoianovici, and Ken Goldberg
    IEEE Transactions on Automation Science and Engineering (TASE), 2013
    Abs PDF
  132. An Algorithm for Computing Customized 3D Printed Implants with Curvature Constrained Channels for Enhancing Intracavitary Brachytherapy Radiation Delivery.
    Animesh Garg, Sachin Patil, Timmy Siauw, J Adam M Cunha, I Hsu, Pieter Abbeel, Jean Pouliot, and Ken Goldberg
    IEEE International Conference on Automation Science & Engg. (CASE), 2013
    Abs PDF
  133. acubot-case12.gif
    Initial experiments toward automated robotic implantation of skew-line needle arrangements for HDR brachytherapy.
    A. Garg, T. Siauw, D. Berenson, A. Cunha, I-Chow Hsu, J. Pouliot, D. Stoianovici, and K. Goldberg
    IEEE International Conference on Automation Science & Engg. (CASE), 2012
      IEEE CASE Best Application Paper Award
    Abs PDF Video
  134. Robotic Brachytherapy Demonstration: Implant of HDR Brachytherapy Needle Configuration Computer-Optimized to Avoid Critical Structures Near the Bulb of the Penis.
    JA Cunha, T Siauw, A Garg, N Zhang, K Goldberg, D Stoianovici, M Roach III, I-C Hsu, and J Pouliot
    Medical Physics, 2012
    PDF
  135. Robot-guided Delivery of Brachytherapy Needles along Non-Parallel Paths to Avoid Penile Bulb Puncture.
    JAM Cunha, A Garg, T Siauw, N Zhang, Y Zuo, K Goldberg, D Stoianovici, M Roach III, and J Pouliot
    Radiotherapy and Oncology, 2012
    PDF
  136. Low-Cost Teleoperation of Remotely Located Actuators Based on Dual Tone Multi-Frequency Data Transfer.
    Sahil Thakkar, Animesh Garg, Adesh Midha, and Prerna Gaur
    2012
    Abs PDF
  137. The Autotrix: Design and Implementation of an Autonomous Urban Driving System.
    Animesh Garg, Anju Toor, Sahil Thakkar, Shiwangi Goel, Sachin Maheshwari, and Satish Chand
    2012
    Abs PDF
  138. Object Identification and Mapping using Monocular Vision in an Autonomous Urban Driving System.
    Animesh Garg, Anju Toor, Sahil Thakkar, Shiwangi Goel, Sachin Maheshwari, and Satish Chand
    International Conference of Machine Vision, 2010

Workshops

  1. diffsim2real-24.jpg
    DiffSim2Real: Deploying Quadrupedal Locomotion Policies Purely Trained in Differentiable Simulation.
    Joshua Bagajo, Clemens Schwarke, Victor Klemm, Ignat Georgiev, Jean-Pierre Sleiman, Jesus Tordesillas, Animesh Garg, and Marco Hutter
    2024
    arXiv
  2. Uniformly Safe RL with Objective Suppression for Multi-Constraint Safety-Critical Applications.
    Zihan Zhou, Jonathan Booher, Khashayar Rohanimanesh, Wei Liu, Aleksandr Petiushko, and Animesh Garg
    2023
    arXiv
  3. Uniform Priors for Data-Efficient Transfer.
    Samarth Sinha, Karsten Roth, Anirudh Goyal, Marzyeh Ghassemi, Hugo Larochelle, and Animesh Garg
    2022
    arXiv
  4. nmf-rss22.jpg
    Neural Motion Fields: Encoding Grasp Trajectories as Implicit Value Functions.
    Yun-Chun Chen, Adithyavairavan Murali, Balakumar Sundaralingam, Wei Yang, Animesh Garg, and Dieter Fox
    2022
    arXiv
  5. d2rl-arxiv20.jpg
    D2RL: Deep Dense Architectures in Reinforcement Learning.
    Samarth Sinha, Homanga Bharadhwaj, Aravind Srinivas, and Animesh Garg
    2020
    arXiv Code Website
  6. Counterfactual Data Augmentation using Locally Factored Dynamics.
    Silviu Pitis, Elliot Creager, and Animesh Garg
    2020
      Outstanding Paper Award at Object-Oriented Learning Workshop, ICML 2020
    Code Poster
  7. Offline Policy Optimization in RL with Variance Regularizaton.
    Riashat Islam, Samarth Sinha, Homanga Bharadhwaj, Samin Yeasar Arnob, Zhuoran Yang, Animesh Garg, Zhaoran Wang, Lihong Li, and Doina Precup
    2020
    arXiv
  8. Combining Model-Free and Model-Based Strategies for Sample-Efficient Reinforcement Learning.
    Michelle A. Lee, Carlos Florensa, Jonathan Tremblay, Nathan Ratliff, Animesh Garg, Fabio Ramos, and Dieter Fox
    2019
      Best paper award at the workshop
    PDF
  9. Turbulence forecasting via Neural ODE.
    Gavin Portwood, Peetak Mitra, Mateus Dias Ribeiro, Tan Minh Nguyen, Balasubramanya Nadiga, Juan Saenz, Micheal Chertkov, Animesh Garg, Anima Anandkumar, Andreas Dengel, Richard Baraniuk, and David Schmidt
    2019
    PDF
  10. Towards Grasp Transfer using Shape Deformation..
    Andrey Kuyenkov*, Viraj Mehta*, Jingwei Ji, Animesh Garg, and Silvio contribution)
    2017
    PDF Poster
  11. Hierarchical Task Generalization with Neural Programs.
    Danfei Xu, Yuke Zhu, Julian Gao, Animesh Garg, Li Fei-Fei, and Silvio Savarese
    2017
  12. Hierarchical Task Generalization with Neural Programs.
    Danfei Xu, Yuke Zhu, Julian Gao, Animesh Garg, Li Fei-Fei, and Silvio Savarese
    2017
    Poster
  13. Adversarially Robust Policy Learning through Active Construction of Physically-Plausible Perturbations.
    Ajay Mandlekar*, Yuke Zhu*, Animesh Garg*, Li Fei-Fei, and Silvio contribution)
    2017
    PDF
  14. HIRL: Hierarchical inverse reinforcement learning for long-horizon tasks with delayed rewards.
    Sanjay Krishnan, Animesh Garg, Richard Liaw, Lauren Miller, Florian T Pokorny, and Ken Goldberg
    2016
    arXiv
  15. On Visual Feature Representations for Transition State Learning in Robotic Task Demonstrations.
    Animesh Garg*, Sanjay Krishnan*, Adithyavairavan Murali, Trevor Darrell, Pieter Abbeel, and Ken contribution)
    2015
    PDF Website
  16. Autonomous Tumor Localization and Extraction: Palpation, Incision, Debridement and Adhesive Closure with the da Vinci Research Kit.
    Stephen McKinley, Siddarth Sen, Animesh Garg, Yiming Jen, David Gealy, Pieter Abbeel, and Ken Goldberg
    2015
      Best Video Award
    Video
  17. Automated Delivery Instrument for Stem Cell Treatment Using the daVinci Robotic Surgical System.
    Stephen McKinley, Animesh Garg, Susan Lim, Sachin Patil, and Ken Goldberg
    2015
    Poster

Tech Reports

  1. replan-24.jpg
    Replan: Robotic replanning with perception and language models.
    Marta Skreta, Zihan Zhou, Jia Lin Yuan, Kourosh Darvish, Alán Aspuru-Guzik, and Animesh Garg
    2024
    arXiv Website
  2. clairify-iros23.gif
    Errors are Useful Prompts: Instruction Guided Task Programming with Verifier-Assisted Iterative Prompting.
    Marta Skreta, Naruki Yoshikawa, Sebastian Arellano-Rubach, Zhi Ji, Lasse Bjørn Kristensen, Kourosh Darvish, Alán Aspuru-Guzik, Florian Shkurti, and Animesh Garg
    2023
    arXiv Video Website
  3. ∆-Networks for Efficient Model Patching.
    Chaitanya Devaguptapu, Samarth Sinha, K J Joseph, Vineeth N Balasubramanian, and Animesh Garg
    2023
    arXiv
  4. see-pp-2022.jpg
    See, Plan, Predict: Language-guided Cognitive Planning with Video Prediction.
    Maria Attarian, Advaya Gupta, Ziyi Zhou, Wei Yu, Igor Gilitschenski, and Animesh Garg
    2022
    arXiv Website
  5. chemrobot-arxiv22.gif
    An Adaptive Robotics Framework for Chemistry Lab Automation.
    Naruki Yoshikawa, Andrew Zou Li, Kourosh Darvish, Yuchi Zhao, Haoping Xu, Alan Aspuru-Guzik, Animesh Garg, and Florian Shkurti
    2022
    arXiv Video Website
  6. audit-ai-banner.jpg
    Auditing AI models for Verified Deployment under Semantic Specifications.
    Homanga Bharadhwaj, De-An Huang, Chaowei Xiao, Animashree Anandkumar, and Animesh Garg
    2021
    arXiv Blog Website
  7. Making Sense of the Robotized Pandemic Response: A Comparison of Global and Canadian Robot Deployments and Success Factors.
    Tim Barfoot, Jessica Burgner-Kahrs, Eric Diller, Animesh Garg, Andrew Goldenberg, Jonathan Kelly, Xinyu Liu, Hani E. Naguib, Goldie Nejat, Angela P. Schoellig, Florian Shkurti, Hallie Siegel, Yu Sun, and Steven Waslander
    2020
    arXiv Blog
  8. De-anonymization of authors through arXiv submissions during double-blind review.
    Homanga Bharadhwaj, Dylan Turpin, Animesh Garg, and Ashton Anderson
    2020
    arXiv Blog
  9. Video Interpolation and Prediction with Unsupervised Landmarks.
    Kevin J. Shih, Aysegul Dundar, Animesh Garg, Robert Pottorf, Andrew Tao, and Bryan Catanzaro
    2019
    arXiv
  10. Composing Meta-Policies for Autonomous Driving Using Hierarchical Deep Reinforcement Learning.
    Richard Liaw, Sanjay Krishnan, Animesh Garg, Daniel Crankshaw, Joseph E Gonzalez, and Ken Goldberg
    2017
    arXiv

Theses

Patents

  1. Data-efficient demonstration expansion for training a generalist robotic agent.
    Tongzhou Mu, Yijie Guo, Jie Xu, Ankit Goyal, Animesh GARG, and Dieter Fox
    2025
    US Patent App. 18/947,237 (pending)
    link
  2. Methods and systems to remotely operate robotic devices.
    Ajay U Mandlekar, Yuke Zhu, Animesh Garg, Silvio Savarese, and Fei-Fei Li
    2025
    US Patent 12,226,913
      Granted
    link
  3. Scene understanding using language models for robotics systems and applications.
    Animesh Garg, Dieter Fox, Tucker Ryer Hermans, and Weiyu Liu
    2024
    US Patent App. 18/319,546 (pending)
    link
  4. Guided uncertainty-aware policy optimization: combining model-free and model-based strategies for sample-efficient learning.
    Jonathan Tremblay, Dieter Fox, Michelle Lee, Carlos Florensa, Nathan Donald Ratliff, GARG Animesh, and Fabio Tozeto Ramos
    2024
    US Patent 12,109,701
      Granted
    link
  5. Step discovery and localization in instructional videos using a self-supervised transformer.
    Mikita Dvornik, Isma Hadji, Ran Zhang, Konstantinos Derpanis, Richard Wildes, GARG Animesh, and Allan Douglas Jepson
    2024
    US Patent App. 18/227,560 (pending)
    link
  6. Controlling position of robot by determining goal proposals by using neural networks.
    Ajay Uday Mandlekar, Fabio Tozeto Ramos, Byron Boots, GARG Animesh, and Dieter Fox
    2024
    US Patent 11,958,529
      Granted
    link
  7. Prompt generator for use with one or more machine learning processes.
    Ishika Singh, Arsalan Mousavian, Ankit Goyal, Danfei Xu, Jonathan Tremblay, Dieter Fox, GARG Animesh, and Valts Blukis
    2024
    US Patent App. 18/122,594 (pending)
    link
  8. Imitation learning system.
    Yu-Wei Chao, De-An Huang, Christopher Jason Paxton, GARG Animesh, and Dieter Fox
    2024
    US Patent 11,893,468 (pending)
    link
  9. Video prediction using one or more neural networks.
    Kevin Shih, Aysegul Dundar, GARG Animesh, Robert Pottorff, Andrew Tao, and Bryan Catanzaro
    2024
    US Patent 11,902,705
      Granted
    link
  10. Predicting object models.
    Fabio Tozeto Ramos, GARG Animesh, Krishna Murthy Jatavallabhula, and Miles Macklin
    2023
    US Patent App. 18/114,146 (pending)
    link
  11. Techniques for robot control using neural implicit value functions.
    Adithyavairavan Murali, Balakumar Sundaralingam, CHEN Yun-Chun, Dieter Fox, and GARG Animesh
    2023
    US Patent App. 17/856,699 (pending)
    link
  12. Differentiable simulator for robotic cutting.
    Eric Heiden, Fabio Tozeto Ramos, Yashraj Narang, Miles Macklin, Dieter Fox, GARG Animesh, and Mike Skolones
    2022
    US Patent App. 17/732,313 (pending)
    link
  13. Precision injector/extractor for robot-assisted minimally-invasive surgery.
    Stephen Mckinley, GARG Animesh, Sachin Patil, Susan ML Lim, and Ken Goldberg
    2022
    US Patent 11,529,205
      Granted
    link
  14. Language-guided distributional tree search.
    Valts Blukis, Christopher Jason Paxton, GARG Animesh, and Dieter Fox
    2022
    US Patent App. 17/316,564 (pending)
    link
  15. Disentanglement of image attributes using a neural network.
    Aysegul Dundar, Kevin Jonathan Shih, GARG Animesh, Robert Thomas Pottorff, Andrew Tao, and Bryan Christopher Catanzaro
    2022
    US Patent App. 17/678,666 (pending)
    link
  16. Online task inference for compositional tasks with context adaptation.
    GARG Animesh, Hongyu Ren, Yuke Zhu, and Anima Anandkumar
    2022
    US Patent App. 16/945,753 (pending)
    link
  17. Attribute-aware image generation using neural networks.
    Weili Nie, Tero Tapani Karras, GARG Animesh, Shoubhik Debnath, Anjul Patney, and Anima Anandkumar
    2022
    US Patent App. 16/925,085 (pending)
    link
  18. Bayesian optimization of sparsity ratios in model compression.
    Saurav Muralidharan, Vinu Joseph, GARG Animesh, and Michael Garland
    2021
    US Patent App. 16/785,044 (pending)
    link
  19. Patient-specific temporary implants for accurately guiding local means of tumor control along patient-specific internal channels to treat cancer.
    Jean Pouliot, Ken Goldberg, I-Chow Hsu, J Adam M Cunha, GARG Animesh, Sachin Patil, Pieter Abbeel, and Timmy Siauw
    2019
    US Patent 10,286,197
      Granted
    link