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.

XMoP- Whole-Body Control Policy for Zero-shot Cross-Embodiment Neural Motion Planning

We propose Cross-Embodiment Motion Policy (XMoP), a neural policy for learning to plan over a distribution of manipulators.

Prabin Kumar Rath, Nakul Gopalan

Learning Temporally Composable Task Segmentations with Language

We present an approach to identify sub-tasks within a demonstrated robot trajectory with the supervision provided by language instructions.

Divyanshu Raj, Omkar Patil, Weiwei Gu, Chitta Baral, Nakul Gopalan

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