Publications

2026

Sequentially Teaching Sequential Tasks
RA-M'26
Sequentially Teaching Sequential Tasks (ST)2: Teaching Robots Long-Horizon Manipulation Skills
Z Ajanović, R Prakash, L de Souza Rosa, J Kober
IEEE Robotics & Automation Magazine
Paper
SafeDMPs
ICRA'26
SafeDMPs: Integrating Formal Safety with DMPs for Adaptive HRI
P Tiwari, S Nath, R Prakash
2026 IEEE International Conference on Robotics and Automation (ICRA)
Paper
Variable Impedance
ICRA'26
Safe and Optimal Variable Impedance Control via Certified Reinforcement Learning
S Kumar, R Prakash
2026 IEEE International Conference on Robotics and Automation (ICRA)
Paper
Beyond the Teacher
ICRA'26
Beyond the Teacher: Leveraging Mixed-Skill Demonstrations for Robust Imitation Learning
S Saharsh, S Sonkar, P Jagtap, R Prakash
2026 IEEE International Conference on Robotics and Automation (ICRA)
Paper

2025

RISE
IROSW'25
RISE: Robust Imitation through Stochastic Encodings
M Tayal, M Tayal, R Prakash
IROS 2025 Workshop: LeaPRIDE: Learning, Planning, and Reasoning in Dynamic Environments
Paper
DiffusionPack
NeurIPSW'25
DiffusionPack: Bin Packing with Custom Human Preferences
A Maurya, S Vyas-b, A Bassunadhar, R Prakash
NeurIPS 2025 Workshop: Bridging Language, Agent, and World Models for Robotics
Paper
OVITA
RA-L'25
OVITA: Open-Vocabulary Interpretable Trajectory Adaptations
A Maurya, T Ghosh, A Nguyen, R Prakash
IEEE Robotics and Automation Letters
Paper
SafeDMPs
CoRLW'25
SafeDMPs: Integrating Formal Safety with DMPs for Adaptive HRI
S Nath, P Tiwari, R Prakash
CoRL 2025 2nd Workshop: Safe and Robust Robot Learning for Operation in the Real World
Paper
Mixed-Skill
CoRLW'25
Beyond the Teacher: Leveraging Mixed-Skill Demonstrations for Robust Imitation Learning
S Saharsh, S Sonkar, P Jagtap, R Prakash
CoRL 2025 Workshop: Making Sense of Data in Robotics: Composition, Quality, and Data-centric Approaches
Paper
PACER
CoRLW'25
PACER: Progress-Aligned Curation for Error-Resilient Imitation Learning
S Kumar, R Prakash
CoRL 2025 Workshop: Making Sense of Data in Robotics: Composition, Quality, and Data-centric Approaches
Paper
Transportation Maps
T-RO'25
Generalizable motion policies through keypoint parameterization and transportation maps
G Franzese, R Prakash, C Della Santina, J Kober
IEEE Transactions on Robotics
Paper
Impedance HRL
ICRA'25
Impedance Primitive-Augmented Hierarchical Reinforcement Learning for Sequential Tasks
AB Tahmaz, R Prakash, J Kober
2025 IEEE International Conference on Robotics and Automation (ICRA)
Paper

2024

Adaptive Critic
T-CST'24
Adaptive Critic Optimal Control of an Uncertain Robot Manipulator With Applications
R Prakash, L Behera, S Jagannathan
IEEE Transactions on Control Systems Technology
Paper
HIRL Workshop
HRI'24
3rd Workshop on Human-Interactive Robot Learning (HIRL)
M Racca, R Mirsky, E Senft, X Xiao, I Idrees, A Kshirsagar, R Prakash
Companion of the 2024 ACM/IEEE International Conference on Human-Robot Interaction
Paper