Research
Papers
Browse our publications below. For a comprehensive list, visit Harish Ravichandar's Google Scholar profile, and find associated open-source projects on the STAR Lab GitHub organization.
Preprints
2026
Modeling and Optimizing the Provisioning of Exhaustible Capabilities for Simultaneous Task Allocation and Scheduling
Autonomous Agents and Multi-Agent Systems (AAMAS) - Oral, 2026.
Towards Automated Chicken Deboning via Learning-based Dynamically-Adaptive 6-DoF Multi-Material Cutting
International Conference on Robotics and Automation (ICRA), 2026.
OmniTacTune: Policy-Agnostic Real-World RL for Tactile Residual Adaptation of Visual Policies
Workshop on Tactile Sensing for Robotic Foundation Models, Robotics: Science and Systems (RSS) - Oral Spotlight, 2026.
Distributionally Robust Control via Stein Variational Inference for Contact-Rich Manipulation
Robotics: Science and Systems (RSS), 2026.
Improving VLA Workspace Randomization Robustness for Industrial Pick-and-Place via Lightweight Residual RL: A Case Study
CVPR Embodied AI Workshop (Oral Spotlight), 2026.
Safe Navigation of Bipedal Robots via Koopman Operator-Based Model Predictive Control
International Conference on Intelligent Robots and Systems (IROS), 2026.
2025
CIMER: Combining Imitation and Emulation to Learn Prehensile Dexterity from State-only Observations
IEEE International Conference on Robotics and Automation (ICRA), 2025.
Learning Flexible Heterogeneous Coordination With Capability-Aware Shared Hypernetworks
Autonomous Agents and Multi-Agent Systems (AAMAS) - Extended Abstract, 2025.
Evaluating and Improving Graph-based Explanation Methods for Multi-Agent Coordination
Autonomous Agents and Multi-Agent Systems (AAMAS) - Extended Abstract, 2025.
Capability-Aware Shared Hypernetworks for Flexible Heterogeneous Multi-Robot Coordination
Conference on Robot Learning (CoRL), 2025.
JaxRobotarium: Training and Deploying Multi-Robot Policies in 10 Minutes
Conference on Robot Learning (CoRL), 2025.
ImMimic: Cross-Domain Imitation from Human Videos via Mapping and Interpolation
Conference on Robot Learning (CoRL) - Oral, 2025.
2024
Learning Prehensile Dexterity by Imitating and Emulating State-only Observations
IEEE Robotics and Automation Letters, 2024.
KOROL: Learning Visualizable Object Feature with Koopman Operator Rollout for Manipulation
Conference on Robot Learning (CoRL), 2024.
AsymDex: Leveraging Asymmetry and Relative Motion in Learning Bimanual Dexterity
Workshop on Whole-body Control and Bimanual Manipulation: Applications in Humanoids and Beyond, Conference on Robot Learning (CoRL), 2024.
Q-ITAGS: Quality-Optimized Spatio-Temporal Heterogeneous Task Allocation with a Time Budget
International Symposium of Robotics Research (ISRR), 2024.
2023
Inferring Implicit Trait Preferences from Demonstrations of Task Allocation in Heterogenous Teams
Autonomous Agents and Multi-Agent Systems (AAMAS) - Extended Abstract, 2023.
Concurrent Constrained Optimization of Unknown Rewards for Multi-Robot Task Allocation
Workshop on Autonomous Robots and Multirobot Systems (ARMS), Autonomous Agents and Multi-Agent Systems (AAMAS), 2023.
A Sampling-based Approach for Heterogeneous Coalition Scheduling with Temporal Uncertainty
Robotics: Science and Systems (RSS), 2023.
Concurrent Constrained Optimization of Unknown Rewards for Multi-Robot Task Allocation
Robotics: Science and Systems (RSS), 2023.
Benefits of Multi-Objective Trajectory Adaptation in Close-Proximity Human-Robot Interaction
IEEE International Conference on Robot and Human Interactive Communication (RO-MAN), 2023.
The Effects of Robot Motion on Comfort Dynamics of Novice Users in Close-Proximity Human-Robot Interaction
International Conference on Intelligent Robots and Systems (IROS), 2023.
D-ITAGS: A Dynamic Interleaved Approach to Resilient Task Allocation, Scheduling, and Motion Planning
IEEE Robotics and Automation Letters (RA-L) and International Conference on Intelligent Robots and Systems (IROS), 2023.
Risk-Tolerant Task Allocation and Scheduling in Heterogeneous Multi-Robot Team
International Conference on Intelligent Robots and Systems (IROS), 2023.
On the Utility of Koopman Operator Theory in Learning Dexterous Manipulation Skills
Conference on Robot Learning (CoRL) - Oral, 2023.
Generalization of Heterogeneous Multi-Robot Policies via Awareness and Communication of Capabilities
Conference on Robot Learning (CoRL), 2023.
MARBLER: An Open Platform for Standardized Evaluation of Multi-Robot Reinforcement Learning Algorithms
International Symposium on Multi-Robot & Multi-Agent Systems (MRS) - Best Paper Award, 2023.
2022
GRSTAPS: Graphically Recursive Simultaneous Task Allocation, Planning, and Scheduling
International Journal of Robotics Research (IJRR), 2022.
Evaluating the Effectiveness of Corrective Demonstrations and a Low-Cost Sensor for Dexterous Manipulation
Machine Learning in Human-Robot Collaboration (MLHRC) Workshop, ACM/IEEE International Conference on Human-Robot Interaction (HRI), 2022.
Resource-Aware Adaptation of Heterogeneous Strategies for Coalition Formation
Autonomous Agents and Multi-Agent Systems (AAMAS) - Extended Abstract, 2022.
Neural Geometric Fabrics: Efficiently Learning High-Dimensional Policies from Demonstration
Workshop on Overlooked Aspects of Imitation Learning, Robotics: Science and Systems (RSS), 2022.
Fast Anticipatory Motion Planning for Close-Proximity Human-Robot Interaction
Workshop on Close Proximity Human-Robot Collaboration, Robotics: Science and Systems (RSS), 2022.
Constrained Reinforcement Learning for Dexterous Manipulation
International Workshop on Safe Reinforcement Learning, International Joint Conference on Artificial Intelligence (IJCAI), 2022.
Leveraging Cognitive States in Human-Robot Teaming
IEEE International Conference on Robot and Human Interactive Communication (RO-MAN), 2022.
Learning Trait Preferences for Task allocation in Heterogeneous Multi-Agent Teams
Workshop on Human-Multi-Robot Systems, International Conference on Intelligent Robots and Systems (IROS), 2022.
Neural Geometric Fabrics: Efficiently Learning High-Dimensional Policies from Demonstration
Cornference on Robot Learning (CoRL), 2022.
2021
STRATA : Unified Framework for Task Assignments in Large Teams of Heterogeneous Agents
International Conference on Autonomous Agents and Multi-Agent Systems (AAMAS)– JAAMAS track, 2021.
Predicting Individual Human Performance in Human-Robot Teaming
IEEE International Conference on Robot and Human Interactive Communication (RO-MAN), 2021.
An Interleaved Approach to Trait-Based Task Allocation and Scheduling
International Conference on Intelligent Robots and Systems (IROS), 2021.
Desperate Times Call for Desperate Measures: Towards Risk-Adaptive Coalition Formation
International Conference on Intelligent Robots and Systems (IROS), 2021.
Resilient Coalition Formation in Heterogeneous Teams via Imitation Learning
Workshop on Cognitive and Social Aspects of Human Multi-Robot Interaction, IROS, 2021.
2020
Learning and Coordination of Movement Primitives for Bimanual Manipulation Tasks Using Concurrent Synchronization
World Scientific Series: Recent Advances in Industrial Manufacturing, 2020.
Recent Advances in Robot Learning from Demonstration
Annual Review of Control, Robotics, and Autonomous Systems, 2020.
STRATA : Unified Framework for Task Assignments in Large Teams of Heterogeneous Agents
Autonomous Agents and Multi-Agent Systems (JAAMAS), 2020.
Anticipatory Human-Robot Collaboration via Multi-Objective Trajectory Optimization
International Conference on Intelligent Robots and Systems (IROS), 2020.
Approximated Dynamic Trait Models for Heterogeneous Multi-Robot Teams
International Conference on Intelligent Robots and Systems (IROS), 2020.
Human-in-the-Loop Robot Control for Human-Robot Collaboration
IEEE Control Systems Magazine, 2020.
Learning Hierarchical Task Networks with Preferences from Unannotated Demonstrations
Conference on Robot Learning (CoRL), 2020.
2019
Learning position and orientation dynamics from demonstrations via contraction analysis
Autonomous Robots (AuRo), 2019.
Skill Acquisition via Automated Multi-Coordinate Cost Balancing
International Conference on Robotics and Automation (ICRA), 2019.
Taking Recoveries to Task : Recovery-Driven Development for Recipe-based Robot Tasks
International Symposium on Robotics Research (ISRR), 2019.
Learning Hierarchical Task Networks with Preferences from Unannotated Demonstrations
Conference on Robot Learning (CoRL), 2019.