For a more comprehensive list, please check out Harish's Google Scholar page.
You can find open-source code associated with the papers below in our lab's Github profile.

Preprints

Towards Automated Chicken Deboning via Learning-based Dynamically-Adaptive 6-DoF Multi-Material Cutting
Towards Automated Chicken Deboning via Learning-based Dynamically-Adaptive 6-DoF Multi-Material Cutting

Zhaodong Yang , Ai-Ping Hu , Harish Ravichandar

Preprint, 2025.

arXiv GitHub
On the Surprising Effectiveness of Spectral Clipping in Learning Stable Linear and Latent-Linear Dynamical Systems
On the Surprising Effectiveness of Spectral Clipping in Learning Stable Linear and Latent-Linear Dynamical Systems

Hanyao Guo , Yunhai Han , Harish Ravichandar

Preprint, 2025.

arXiv GitHub
AsymDex: Asymmetry and Relative Coordinates for RL-based Bimanual Dexterity
AsymDex: Asymmetry and Relative Coordinates for RL-based Bimanual Dexterity

Zhaodong Yang , Yunhai Han , Harish Ravichandar

Preprint, 2025.

arXiv GitHub

2025

ImMimic: Cross-Domain Imitation from Human Videos via Mapping and Interpolation
ImMimic: Cross-Domain Imitation from Human Videos via Mapping and Interpolation

Yangcen Liu* , Woo Chul Shin* , Yunhai Han , Zhenyang Chen , Harish Ravichandar , Danfei Xu

Conference on Robot Learning (CoRL) - Oral, 2025.

JaxRobotarium: Training and Deploying Multi-Robot Policies in 10 Minutes
JaxRobotarium: Training and Deploying Multi-Robot Policies in 10 Minutes

Shalin Jain , Jiazhen Liu , Siva Kailas , Harish Ravichandar

Conference on Robot Learning (CoRL), 2025.

arXiv GitHub
Capability-Aware Shared Hypernetworks for Flexible Heterogeneous Multi-Robot Coordination
Capability-Aware Shared Hypernetworks for Flexible Heterogeneous Multi-Robot Coordination

Kevin Fu*, Shalin Jain* , Pierce Howell , Harish Ravichandar

Conference on Robot Learning (CoRL), 2025.

arXiv GitHub
Evaluating and Improving Graph-based Explanation Methods for Multi-Agent Coordination
Evaluating and Improving Graph-based Explanation Methods for Multi-Agent Coordination

Siva Kailas , Shalin Jain , Harish Ravichandar

Autonomous Agents and Multi-Agent Systems (AAMAS) - Extended Abstract, 2025.

arXiv GitHub
Learning Flexible Heterogeneous Coordination With Capability-Aware Shared Hypernetworks
Learning Flexible Heterogeneous Coordination With Capability-Aware Shared Hypernetworks

Kevin Fu , Pierce Howell* , Shalin Jain* , Harish Ravichandar

Autonomous Agents and Multi-Agent Systems (AAMAS) - Extended Abstract, 2025.

arXiv GitHub
CIMER: Combining Imitation and Emulation to Learn Prehensile Dexterity from State-only Observations
CIMER: Combining Imitation and Emulation to Learn Prehensile Dexterity from State-only Observations

Yunhai Han , Zhenyang Chen , Kyle A Williams , Harish Ravichandar

IEEE International Conference on Robotics and Automation (ICRA), 2025.

arXiv GitHub

2024

Q-ITAGS: Quality-Optimized Spatio-Temporal Heterogeneous Task Allocation with a Time Budget
Q-ITAGS: Quality-Optimized Spatio-Temporal Heterogeneous Task Allocation with a Time Budget

Jiazhen Liu* , Glen Neville* , Sonia Chernova , and Harish Ravichandar

International Symposium of Robotics Research (ISRR), 2024.

arXiv GitHub
AsymDex: Leveraging Asymmetry and Relative Motion in Learning Bimanual Dexterity
AsymDex: Leveraging Asymmetry and Relative Motion in Learning Bimanual Dexterity

Zhaodong Yang , Yunhai Han , Harish Ravichandar

Workshop on Whole-body Control and Bimanual Manipulation: Applications in Humanoids and Beyond, Conference on Robot Learning (CoRL), 2024.

KOROL: Learning Visualizable Object Feature with Koopman Operator Rollout for Manipulation
KOROL: Learning Visualizable Object Feature with Koopman Operator Rollout for Manipulation

Hongyi Chen , Abulikemu Abuduweili , Aviral Agrawal , Yunhai Han , Harish Ravichandar , Changliu Liu , Jeffrey Ichnowski

Conference on Robot Learning (CoRL), 2024.

arXiv GitHub
Learning Prehensile Dexterity by Imitating and Emulating State-only Observations
Learning Prehensile Dexterity by Imitating and Emulating State-only Observations

Yunhai Han , Zhenyang Chen , Kyle A Williams , Harish Ravichandar

IEEE Robotics and Automation Letters, 2024.

arXiv GitHub

2023

MARBLER: An Open Platform for Standardized Evaluation of Multi-Robot Reinforcement Learning Algorithms
MARBLER: An Open Platform for Standardized Evaluation of Multi-Robot Reinforcement Learning Algorithms

Reza Torbati , Shubham Lohiya , Shivika Singh , Meher Shashwat Nigam , Harish Ravichandar

International Symposium on Multi-Robot & Multi-Agent Systems (MRS) - Best Paper Award, 2023.

arXiv GitHub
Generalization of Heterogeneous Multi-Robot Policies via Awareness and Communication of Capabilities
Generalization of Heterogeneous Multi-Robot Policies via Awareness and Communication of Capabilities

Pierce Howell* , Max Rudolph* , Reza Torbati , Kevin Fu , Harish Ravichandar

Conference on Robot Learning (CoRL), 2023.

PDF GitHub
On the Utility of Koopman Operator Theory in Learning Dexterous Manipulation Skills
On the Utility of Koopman Operator Theory in Learning Dexterous Manipulation Skills

Yunhai Han , Mandy Xie , Ye Zhao , Harish Ravichandar

Conference on Robot Learning (CoRL) - Oral, 2023.

arXiv GitHub
Risk-Tolerant Task Allocation and Scheduling in Heterogeneous Multi-Robot Team
Risk-Tolerant Task Allocation and Scheduling in Heterogeneous Multi-Robot Team

Jinwoo Park , Andrew Messing , Harish Ravichandar , Seth Hutchinson

International Conference on Intelligent Robots and Systems (IROS), 2023.

PDF GitHub
D-ITAGS: A Dynamic Interleaved Approach to Resilient Task Allocation, Scheduling, and Motion Planning
D-ITAGS: A Dynamic Interleaved Approach to Resilient Task Allocation, Scheduling, and Motion Planning

Glen Neville , Sonia Chernova , Harish Ravichandar

IEEE Robotics and Automation Letters (RA-L) and International Conference on Intelligent Robots and Systems (IROS), 2023.

arXiv PDF GitHub
The Effects of Robot Motion on Comfort Dynamics of Novice Users in Close-Proximity Human-Robot Interaction
The Effects of Robot Motion on Comfort Dynamics of Novice Users in Close-Proximity Human-Robot Interaction

Pierce Howell , Jack Kolb* , Yifan Liu* , Harish Ravichandar

International Conference on Intelligent Robots and Systems (IROS), 2023.

arXiv
Benefits of Multi-Objective Trajectory Adaptation in Close-Proximity Human-Robot Interaction
Benefits of Multi-Objective Trajectory Adaptation in Close-Proximity Human-Robot Interaction

Oscar Jed Chuy* , Hritik Sapra* , Xiang Zhi Tan* , Harish Ravichandar , Sonia Chernova

IEEE International Conference on Robot and Human Interactive Communication (RO-MAN), 2023.

PDF
Concurrent Constrained Optimization of Unknown Rewards for Multi-Robot Task Allocation
Concurrent Constrained Optimization of Unknown Rewards for Multi-Robot Task Allocation

Sukriti Singh , Anusha Srikanthan , Vivek Mallampati , Harish Ravichandar

Robotics: Science and Systems (RSS), 2023.

arXiv PDF GitHub
A Sampling-based Approach for Heterogeneous Coalition Scheduling with Temporal Uncertainty
A Sampling-based Approach for Heterogeneous Coalition Scheduling with Temporal Uncertainty

Andrew Messing , Jacopo Banfi , Martina Stadler , Ethan Stump , Harish Ravichandar , Nicholas Roy , Seth Hutchinson

Robotics: Science and Systems (RSS), 2023.

PDF GitHub
Concurrent Constrained Optimization of Unknown Rewards for Multi-Robot Task Allocation
Concurrent Constrained Optimization of Unknown Rewards for Multi-Robot Task Allocation

Sukriti Singh , Anusha Srikanthan , Vivek Mallampati , Harish Ravichandar

Workshop on Autonomous Robots and Multirobot Systems (ARMS), Autonomous Agents and Multi-Agent Systems (AAMAS), 2023.

PDF GitHub
Inferring Implicit Trait Preferences from Demonstrations of Task Allocation in Heterogenous Teams
Inferring Implicit Trait Preferences from Demonstrations of Task Allocation in Heterogenous Teams

Vivek Mallampati , Harish Ravichandar

Autonomous Agents and Multi-Agent Systems (AAMAS) - Extended Abstract, 2023.

arXiv GitHub

2022

Neural Geometric Fabrics: Efficiently Learning High-Dimensional Policies from Demonstration
Neural Geometric Fabrics: Efficiently Learning High-Dimensional Policies from Demonstration

Mandy Xie , Karl Van Wyk , Ankur Handa , Stephen Tyree , Dieter Fox , Harish Ravichandar , Nathan Ratliff

Cornference on Robot Learning (CoRL), 2022.

PDF
Learning Trait Preferences for Task allocation in Heterogeneous Multi-Agent Teams
Learning Trait Preferences for Task allocation in Heterogeneous Multi-Agent Teams

Vivek Mallampati , Harish Ravichandar

Workshop on Human-Multi-Robot Systems, International Conference on Intelligent Robots and Systems (IROS), 2022.

arXiv GitHub
Leveraging Cognitive States in Human-Robot Teaming
Leveraging Cognitive States in Human-Robot Teaming

Jack Kolb , Harish Ravichandar , Sonia Chernova

IEEE International Conference on Robot and Human Interactive Communication (RO-MAN), 2022.

PDF
Constrained Reinforcement Learning for Dexterous Manipulation
Constrained Reinforcement Learning for Dexterous Manipulation

Abhineet Jain , Jack Kolb , Harish Ravichandar

International Workshop on Safe Reinforcement Learning, International Joint Conference on Artificial Intelligence (IJCAI), 2022.

arXiv GitHub
Fast Anticipatory Motion Planning for Close-Proximity Human-Robot Interaction
Fast Anticipatory Motion Planning for Close-Proximity Human-Robot Interaction

Sam Scheele , Pierce Howell , Harish Ravichandar

Workshop on Close Proximity Human-Robot Collaboration, Robotics: Science and Systems (RSS), 2022.

arXiv
Neural Geometric Fabrics: Efficiently Learning High-Dimensional Policies from Demonstration
Neural Geometric Fabrics: Efficiently Learning High-Dimensional Policies from Demonstration

Mandy Xie , Karl Van Wyk , Ankur Handa , Stephen Tyree , Dieter Fox , Harish Ravichandar , Nathan Ratliff

Workshop on Overlooked Aspects of Imitation Learning, Robotics: Science and Systems (RSS), 2022.

Resource-Aware Adaptation of Heterogeneous Strategies for Coalition Formation
Resource-Aware Adaptation of Heterogeneous Strategies for Coalition Formation

Anusha Srikanthan , Harish Ravichandar

Autonomous Agents and Multi-Agent Systems (AAMAS) - Extended Abstract, 2022.

arXiv PDF GitHub
Evaluating the Effectiveness of Corrective Demonstrations and a Low-Cost Sensor for Dexterous Manipulation
Evaluating the Effectiveness of Corrective Demonstrations and a Low-Cost Sensor for Dexterous Manipulation

Abhineet Jain* , Jack Kolb* , J.M. Abbess IV , Harish Ravichandar

Machine Learning in Human-Robot Collaboration (MLHRC) Workshop, ACM/IEEE International Conference on Human-Robot Interaction (HRI), 2022.

arXiv GitHub
GRSTAPS: Graphically Recursive Simultaneous Task Allocation, Planning, and Scheduling
GRSTAPS: Graphically Recursive Simultaneous Task Allocation, Planning, and Scheduling

Andrew Messing* , Glen Neville* , Seth Hutchinson , Sonia Chernova , Harish Ravichandar

International Journal of Robotics Research (IJRR), 2022.

PDF GitHub

2021

Resilient Coalition Formation in Heterogeneous Teams via Imitation Learning
Resilient Coalition Formation in Heterogeneous Teams via Imitation Learning

Anusha Srikanthan , Siddharth Mayya , Harish Ravichandar , Vijay Kumar

Workshop on Cognitive and Social Aspects of Human Multi-Robot Interaction, IROS, 2021.

PDF
Desperate Times Call for Desperate Measures: Towards Risk-Adaptive Coalition Formation
Desperate Times Call for Desperate Measures: Towards Risk-Adaptive Coalition Formation

Max Rudolph , Sonia Chernova , Harish Ravichandar

International Conference on Intelligent Robots and Systems (IROS), 2021.

arXiv PDF GitHub
An Interleaved Approach to Trait-Based Task Allocation and Scheduling
An Interleaved Approach to Trait-Based Task Allocation and Scheduling

Glen Neville , Andrew Messing , Harish Ravichandar , Seth Hutchinson Sonia Chernova.

International Conference on Intelligent Robots and Systems (IROS), 2021.

arXiv PDF
Predicting Individual Human Performance in Human-Robot Teaming
Predicting Individual Human Performance in Human-Robot Teaming

Jack Kolb , Harish Ravichandar , Sonia Chernova

IEEE International Conference on Robot and Human Interactive Communication (RO-MAN), 2021.

PDF
STRATA : Unified Framework for Task Assignments in Large Teams of Heterogeneous Agents
STRATA : Unified Framework for Task Assignments in Large Teams of Heterogeneous Agents

Harish Ravichandar , K. Shaw , Sonia Chernova

International Conference on Autonomous Agents and Multi-Agent Systems (AAMAS)– JAAMAS track, 2021.

PDF GitHub

2020

Learning Hierarchical Task Networks with Preferences from Unannotated Demonstrations
Learning Hierarchical Task Networks with Preferences from Unannotated Demonstrations

Kevin Chen , Nithin Shrivatsav Srikanth , David Kent , Harish Ravichandar , Sonia Chernova

Conference on Robot Learning (CoRL), 2020.

PDF GitHub
Human-in-the-Loop Robot Control for Human-Robot Collaboration
Human-in-the-Loop Robot Control for Human-Robot Collaboration

Ashwin P. Dani , Iman Salehi , Ghananeel Rotithor , Daniel Trombetta , Harish Ravichandar

IEEE Control Systems Magazine, 2020.

PDF
Approximated Dynamic Trait Models for Heterogeneous Multi-Robot Teams
Approximated Dynamic Trait Models for Heterogeneous Multi-Robot Teams

Glen Neville , Harish Ravichandar , Kenneth Shaw , Sonia Chernova

International Conference on Intelligent Robots and Systems (IROS), 2020.

PDF
Anticipatory Human-Robot Collaboration via Multi-Objective Trajectory Optimization
Anticipatory Human-Robot Collaboration via Multi-Objective Trajectory Optimization

Abhinav Jain , Daphne Chen , Dhruv Bansal , Sam Scheele , Mayank Kishore , Hritik Sapra , David Kent , Harish Ravichandar , Sonia Chernova

International Conference on Intelligent Robots and Systems (IROS), 2020.

arXiv PDF
STRATA : Unified Framework for Task Assignments in Large Teams of Heterogeneous Agents
STRATA : Unified Framework for Task Assignments in Large Teams of Heterogeneous Agents

Harish Ravichandar , K. Shaw , Sonia Chernova

Autonomous Agents and Multi-Agent Systems (JAAMAS), 2020.

arXiv PDF GitHub
Recent Advances in Robot Learning from Demonstration
Recent Advances in Robot Learning from Demonstration

Harish Ravichandar , Athanasios S. Polydoros , Sonia Chernova , Aude Billard

Annual Review of Control, Robotics, and Autonomous Systems, 2020.

PDF
Learning and Coordination of Movement Primitives for Bimanual Manipulation Tasks Using Concurrent Synchronization
Learning and Coordination of Movement Primitives for Bimanual Manipulation Tasks Using Concurrent Synchronization

Ashwin P. Dani , Iman Salehi , Ghananeel Rotithor , Daniel Trombetta , Harish Ravichandar

World Scientific Series: Recent Advances in Industrial Manufacturing, 2020.

PDF

2019

Learning Hierarchical Task Networks with Preferences from Unannotated Demonstrations
Learning Hierarchical Task Networks with Preferences from Unannotated Demonstrations

M. Asif Rana , Anqi Li , Harish Ravichandar , Mustafa Mukadam , Sonia Chernova , Dieter Fox , Byron Boots , Nathan Ratliff

Conference on Robot Learning (CoRL), 2019.

PDF
Taking Recoveries to Task : Recovery-Driven Development for Recipe-based Robot Tasks
Taking Recoveries to Task : Recovery-Driven Development for Recipe-based Robot Tasks

Siddhartha Banerjee , Angel Daruna , David Kent , Weiyu Liu , Jonathan Balloch , Abhinav Jain , Akshay Krishnan , Muhammad Asif Rana , Harish Ravichandar , Binit Shah , Nithin Shrivatsav , Sonia Chernova

International Symposium on Robotics Research (ISRR), 2019.

arXiv GitHub
Skill Acquisition via Automated Multi-Coordinate Cost Balancing
Skill Acquisition via Automated Multi-Coordinate Cost Balancing

Harish Ravichandar , S. Reza Ahmadzadeh , M. Asif Rana , Sonia Chernova

International Conference on Robotics and Automation (ICRA), 2019.

arXiv PDF GitHub
Learning position and orientation dynamics from demonstrations via contraction analysis
Learning position and orientation dynamics from demonstrations via contraction analysis

Harish Ravichandar , Ashwin Dani

Autonomous Robots (AuRo), 2019.

PDF