Publications

2026

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 Code Project Site
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
Beyond Visual Grasping: Benchmarking Complex Grasping from Detection to Execution
IROS'26
Beyond Visual Grasping: Benchmarking Complex Grasping from Detection to Execution
H Zhang, K Nguyen, C Munasinghe, B Hela, T Li, Z Luo, H Nguyen, HW van de Venn, Y Zheng, R Prakash, TD Ta, A Nguyen, B Huang
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Paper Project Site
Gripper-aware Vision Language Action Models
ECCV'26
Gripper-aware Vision Language Action Models
H Zhang, Z Luo, T Li, K Nguyen, B Hela, S Kumar, ND Tran, F Dai, C Munasinghe, J Peña Queralta, G Toffetti, K Vo, N Le, R Prakash, Q Vuong, TD Ta, L Hu, A Nguyen, B Huang
European Conference on Computer Vision (ECCV)
Paper Project Site
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
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 Code Project Site
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
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 Code 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 Code
Where Reasoning Does Not Matter: Isolating Chain-of-Thought in a Modular, Agentic VLM Manipulation Pipeline
RSSW'26
Where Reasoning Does Not Matter: Isolating Chain-of-Thought in a Modular, Agentic VLM Manipulation Pipeline
B Hela, R Prakash
RSS 2026 Workshop: Semantic Reasoning and Goal Understanding in Robotics (SemRob)
Paper
Safe Flow Q-Learning: Offline Safe Reinforcement Learning with Reachability-Based Flow Policies
ICMLW'26
Safe Flow Q-Learning: Offline Safe Reinforcement Learning with Reachability-Based Flow Policies
M Tayal, M Tayal, R Prakash
ICML 2026 Workshop: Agents in the Wild (AIWILD)
Paper
Bridging Safety and Performance in Autonomous Systems using Offline Reinforcement Learning
ICMLW'26
Bridging Safety and Performance in Autonomous Systems using Offline Reinforcement Learning
M Tayal, M Tayal, R Prakash
ICML 2026 Workshop: Agents in the Wild (AIWILD)
Paper
Latent Dynamics Modulation Guidance for Semantic Obstacle Avoidance in Diffusion Policies
ICRAW'26
Latent Dynamics Modulation Guidance for Semantic Obstacle Avoidance in Diffusion Policies
S Alavala, V Buereddy, R Prakash
ICRA 2026 Workshop: Semantics for Reliable Robot Autonomy
Paper
The Topological Cage: A Search-Less Geometric Handshake for Medial Axis Injection
ICRAW'26
The Topological Cage: A Search-Less Geometric Handshake for Medial Axis Injection
SP Goswami, R Prakash
ICRA 2026 Workshop: Geometry in the Age of Data-Driven Robotics
Paper
GenieMotion: Learning Object-Centric 4D Motion Representations from a Single Image via Generative Demonstrations
CVPRW'26
GenieMotion: Learning Object-Centric 4D Motion Representations from a Single Image via Generative Demonstrations
M Halder, R Prakash
CVPR 2026 Workshop: 4D Vision
Paper
State-Corrected Predictive Preference Learning for Multimodal Robot Navigation on Uneven Terrain
ICRAW'26
State-Corrected Predictive Preference Learning for Multimodal Robot Navigation on Uneven Terrain
R Jadhav, AK Singh, S Ganguly, R Prakash, V Kumar
ICRA 2026 Workshop: Long-term Deployments in the Wild (LoWi)
Paper

2025

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
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
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
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
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
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
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

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