Publications

2026

AffordMatcher: Affordance Learning in 3D Scenes from Visual Signifiers
CVPR'26
AffordMatcher: Affordance Learning in 3D Scenes from Visual Signifiers
N Vu, T Do, K Nguyen, B Huang, N Le, BX Nguyen, E Tjiputra, QD Tran, R Prakash, T-C Chiu, A Nguyen
IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR)
Paper
Safe Flow Q-Learning: Offline Safe Reinforcement Learning with Reachability-Based Flow Policies
RLC'26
Safe Flow Q-Learning: Offline Safe Reinforcement Learning with Reachability-Based Flow Policies
M Tayal, M Tayal, R Prakash
Reinforcement Learning Conference (RLC)
Paper
V-OCBF: Learning Safety Filters from Offline Data via Value-Guided Offline Control Barrier Functions
TMLR'26
V-OCBF: Learning Safety Filters from Offline Data via Value-Guided Offline Control Barrier Functions
M Tayal, M Tayal, A Singh, S Kolathaya, R Prakash
Transactions on Machine Learning Research
Paper
Sequentially Teaching Sequential Tasks (ST)2: Teaching Robots Long-Horizon Manipulation Skills
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 and Automation Magazine
Paper
SafeDMPs: Integrating Formal Safety with DMPs for Adaptive HRI
ICRA'26
SafeDMPs: Integrating Formal Safety with DMPs for Adaptive HRI
P Tiwari, S Nath, R Prakash
IEEE International Conference on Robotics and Automation (ICRA)
Paper Project Site
Safe and Optimal Variable Impedance Control via Certified Reinforcement Learning
ICRA'26
Safe and Optimal Variable Impedance Control via Certified Reinforcement Learning
S Kumar, R Prakash
IEEE International Conference on Robotics and Automation (ICRA)
Paper
Beyond the Teacher: Leveraging Mixed-Skill Demonstrations for Robust Imitation Learning
ICRA'26
Beyond the Teacher: Leveraging Mixed-Skill Demonstrations for Robust Imitation Learning
S Saharsh, S Sonkar, P Jagtap, R Prakash
IEEE International Conference on Robotics and Automation (ICRA)
Paper Project Site Code

2025

RISE: Robust Imitation through Stochastic Encodings
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: Bin Packing with Custom Human Preferences
NeurIPSW'25
DiffusionPack: Bin Packing with Custom Human Preferences
A Maurya, S Vats, G Balachandran, R Prakash
NeurIPS 2025 Workshop: Bridging Language, Agent, and World Models for Robotics
Paper
OVITA: Open-Vocabulary Interpretable Trajectory Adaptations
RA-L'25
OVITA: Open-Vocabulary Interpretable Trajectory Adaptations
A Maurya, T Ghosh, A Nguyen, R Prakash
IEEE Robotics and Automation Letters
Paper Code
SafeDMPs: Integrating Formal Safety with DMPs for Adaptive HRI
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
Beyond the Teacher: Leveraging Mixed-Skill Demonstrations for Robust Imitation Learning
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: Progress-Aligned Curation for Error-Resilient Imitation Learning
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
Generalizable motion policies through keypoint parameterization and 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 Code
Impedance Primitive-Augmented Hierarchical Reinforcement Learning for Sequential Tasks
ICRA'25
Impedance Primitive-Augmented Hierarchical Reinforcement Learning for Sequential Tasks
AB Tahmaz, R Prakash, J Kober
IEEE International Conference on Robotics and Automation (ICRA)
Paper

2024

Adaptive Critic Optimal Control of an Uncertain Robot Manipulator With Applications
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
3rd Workshop on Human-Interactive Robot Learning (HIRL)
HRI'24
3rd Workshop on Human-Interactive Robot Learning (HIRL)
M Racca, R Mirsky, E Senft, X Xiao, I Idrees, A Kshirsagar, R Prakash
ACM/IEEE International Conference on Human-Robot Interaction (HRI)
Paper