Publications

Group highlights

At the end of this page, you can find the full list of publications and patents. All papers are also available on arXiv.

Learning Sequential Kinematic Models from Demonstrations for Multi-Jointed Articulated Objects

We address learning object models from human demonstrations. We introduce Object Kinematic Sequence Machines (OKSMs), a novel representation capturing both kinematic constraints and manipulation order for multi-DoF objects. To estimate these models from point-cloud data, we present Pokenet, a deep neural network trained on human demonstrations.

Anmol Gupta, Weiwei Gu, Omkar Patil, Jun Ki Lee, Nakul Gopalan

2026 IEEE International Conference on Robotics and Automation (ICRA)

Factorizing Diffusion Policies for Observation Modality Prioritization

We propose Factorized Diffusion Policies (FDP), a novel policy formulation that enables observational modalities to have differing influence on the action diffusion process by design, resulting in more performant and robust policies with strong improvements in low-data regimes and under distribution shifts.

Omkar Patil, Prabin Rath, Kartikay Pangaonkar, Eric Rosen, Nakul Gopalan

2026 IEEE International Conference on Robotics and Automation (ICRA)

 

Full List of publications

Learning Sequential Kinematic Models from Demonstrations for Multi-Jointed Articulated Objects
Anmol Gupta, Weiwei Gu, Omkar Patil, Jun Ki Lee, Nakul Gopalan
2026 IEEE International Conference on Robotics and Automation (ICRA)

Factorizing Diffusion Policies for Observation Modality Prioritization
Omkar Patil, Prabin Rath, Kartikay Pangaonkar, Eric Rosen, Nakul Gopalan
2026 IEEE International Conference on Robotics and Automation (ICRA)

XMoP- Whole-Body Control Policy for Zero-shot Cross-Embodiment Neural Motion Planning
Prabin Kumar Rath, Nakul Gopalan
2025 IEEE International Conference on Robotics and Automation (ICRA)

Learning Temporally Composable Task Segmentations with Language
Divyanshu Raj, Omkar Patil, Weiwei Gu, Chitta Baral, Nakul Gopalan
2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

Hardware-Software Co-Design for Path Planning by Drones
Ayushi Dube, Omkar Patil, Gian Singh, Nakul Gopalan, Sarma Vrudhula
2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

Interactive Visual Task Learning for Robots
Weiwei Gu, Anant Sah, Nakul Gopalan
In Proceedings of The 38th Annual AAAI Conference on Artificial Intelligence