FR
Fabio Ramos
cs.ROcs.LGcs.AIstat.MLcs.CVcs.SYeess.SYcs.GRMental Disordersphysics.geo-ph
On Valency
published · living versionsW_zguz6q9v·v1 · currentpublished
cuArms: GPU-Accelerated Conflict-Based Planning for Multi-Arm Manipulation
with Philip Huang, Jiaoyang Li, Caelan Garrett, Lars Johannsmeier
1 version
W_f6e7jyxy·v1published
Preprints & journals
106 papers in the corpus · 2012–2026DemoStream: Batched Task-and-Motion-Plan Optimization for Automated Learning from Demonstration2610.22020v1 · Caelan Garrett, Neel Jawale, Fabio Ramos2026 · 0 citationsarXiv
Informing Acquisition Functions via Foundation Models for Molecular Discovery2512.13935v1 · Qi Chen, Fabio Ramos, Al'an Aspuru-Guzik et al.2025 · 0 citationsarXiv
ScheduleStream: Temporal Planning with Samplers for GPU-Accelerated Multi-Arm Task and Motion Planning & Scheduling2511.04758v2 · Caelan Garrett, Fabio Ramos2025 · 0 citations2026 IEEE International Conference on Robotics and Automation (ICRA)
The Reality Gap in Robotics: Challenges, Solutions, and Best Practices2510.20808v1 · Elie Aljalbout, Jiaxu Xing, Angel Romero et al.2025 · 11 citationsarXiv
Do What You Say: Steering Vision-Language-Action Models via Runtime Reasoning-Action Alignment Verification2510.16281v2 · Yilin Wu, Anqi Li, Tucker Hermans et al.2025 · 0 citationsarXiv
VLA-0: Building State-of-the-Art VLAs with Zero Modification2510.13054v1 · Ankit Goyal, Hugo Hadfield, Xuning Yang et al.2025 · 0 citationsarXiv
Mass Conservation on Rails -- Rethinking Physics-Informed Learning of Ice Flow Vector Fields2510.06286v1 · Kim Bente, Roman Marchant, Fabio Ramos2025 · 0 citationsarXiv
PEEK: Guiding and Minimal Image Representations for Zero-Shot Generalization of Robot Manipulation Policies2509.18282v1 · Jesse Zhang, Marius Memmel, Kevin Kim et al.2025 · 0 citationsarXiv
Deformable Cluster Manipulation via Whole-Arm Policy Learning2507.17085v2 · Jayadeep Jacob, Wenzheng Zhang, Houston Warren et al.2025 · 0 citationsarXiv
Q-Guided Stein Variational Model Predictive Control via RL-informed Policy Prior2507.06625v4 · Shizhe Cai, Zeya Yin, Jayadeep Jacob et al.2025 · 0 citationsarXiv
HAMSTER: Hierarchical Action Models For Open-World Robot Manipulation2502.05485v4 · Yi Li, Yuquan Deng, Jesse Zhang et al.2025 · 1 citationarXiv
Grasping by parallel shape matching2412.08346v1 · Wenzheng Zhang, Fahira Afzal Maken, Tin Lai et al.2024 · 0 citationsACRA 2024: Australasian Conference on Robotics and Automation, November 2024, Auckland, New Zealand
Aim My Robot: Precision Local Navigation to Any Object2411.14770v2 · Xiangyun Meng, Xuning Yang, Sanghun Jung et al.2024 · 6 citationsarXiv
Differentiable GPU-Parallelized Task and Motion Planning2411.11833v2 · William Shen, Caelan Garrett, Nishanth Kumar et al.2024 · 1 citationarXiv
Open-World Task and Motion Planning via Vision-Language Model Generated Constraints2411.08253v4 · Nishanth Kumar, William Shen, Fabio Ramos et al.2024 · 2 citationsarXiv
FORGE: Force-Guided Exploration for Robust Contact-Rich Manipulation under Uncertainty2408.04587v2 · Michael Noseworthy, Bingjie Tang, Bowen Wen et al.2024 · 16 citationsarXiv
AutoMate: Specialist and Generalist Assembly Policies over Diverse Geometries2407.08028v2 · Bingjie Tang, Iretiayo Akinola, Jie Xu et al.2024 · 17 citationsarXiv
Stein Random Feature Regression2406.00438v2 · Houston Warren, Rafael Oliveira, Fabio Ramos2024 · 0 citationsarXiv
Dynamic Q-planning for Online UAV Path Planning in Unknown and Complex Environments2402.06297v1 · Lidia Gianne Souza da Rocha, Kenny Anderson Queiroz Caldas, Marco Henrique Terra et al.2024 · 13 citationsarXiv
Signatures Meet Dynamic Programming: Generalizing Bellman Equations for Trajectory Following2312.05547v2 · Motoya Ohnishi, Iretiayo Akinola, Jie Xu et al.2023 · 0 citations6th Annual Conference on Learning for Dynamics and Control (2024)
Stein Variational Belief Propagation for Multi-Robot Coordination2311.16916v2 · Jana Pavlasek, Joshua Jing Zhi Mah, Ruihan Xu et al.2023 · 5 citationsarXiv
cuRobo: Parallelized Collision-Free Minimum-Jerk Robot Motion Generation2310.17274v2 · Balakumar Sundaralingam, Siva Kumar Sastry Hari, Adam Fishman et al.2023 · 4 citationsarXiv
STAMP: Differentiable Task and Motion Planning via Stein Variational Gradient Descent2310.01775v4 · Yewon Lee, Andrew Z. Li, Philip Huang et al.2023 · 1 citationarXiv
Path Signatures for Diversity in Probabilistic Trajectory Optimisation2308.04071v1 · Lucas Barcelos, Tin Lai, Rafael Oliveira et al.2023 · 5 citationsarXiv
Learning to Simulate Tree-Branch Dynamics for Manipulation2306.03410v3 · Jayadeep Jacob, Tirthankar Bandyopadhyay, Jason Williams et al.2023 · 10 citationsarXiv
IndustReal: Transferring Contact-Rich Assembly Tasks from Simulation to Reality2305.17110v1 · Bingjie Tang, Michael A. Lin, Iretiayo Akinola et al.2023 · 50 citationsarXiv
DefGraspNets: Grasp Planning on 3D Fields with Graph Neural Nets2303.16138v1 · Isabella Huang, Yashraj Narang, Ruzena Bajcsy et al.2023 · 8 citationsarXiv
Batch Bayesian optimisation via density-ratio estimation with guarantees2209.10715v2 · Rafael Oliveira, Louis Tiao, Fabio Ramos2022 · 1 citationarXiv
Renaissance Robot: Optimal Transport Policy Fusion for Learning Diverse Skills2207.00978v1 · Julia Tan, Ransalu Senanayake, Fabio Ramos2022 · 3 citationsarXiv
Accelerated Policy Learning with Parallel Differentiable Simulation2204.07137v1 · Jie Xu, Viktor Makoviychuk, Yashraj Narang et al.2022 · 25 citationsarXiv
Robot Learning From Randomized Simulations: A Review.35494543 · Muratore, Fabio, Ramos, Fabio, Turk, Greg et al.2024 · 127 citationsFrontiers in robotics and AI. 2022;9:799893
DiSECt: A Differentiable Simulator for Parameter Inference and Control in Robotic Cutting2203.10263v1 · Eric Heiden, Miles Macklin, Yashraj Narang et al.2022 · 9 citationsarXiv
Using a mobile health device to monitor physiological stress for serious mental illness: A qualitative analysis of patient and clinician-related acceptability.35298226 · Byrne, Simon, Tohamy, Ahmed, Kotze, Beth et al.2022 · 13 citationsPsychiatric rehabilitation journal. 2022;45(3):219-225
Adaptive Model Predictive Control by Learning Classifiers2203.06783v2 · Rel Guzman, Rafael Oliveira, Fabio Ramos2022 · 1 citationarXiv
L4KDE: Learning for KinoDynamic Tree Expansion2203.00975v2 · Tin Lai, Weiming Zhi, Tucker Hermans et al.2022 · 1 citationarXiv
Bayesian Optimisation for Robust Model Predictive Control under Model Parameter Uncertainty2203.00551v3 · Rel Guzman, Rafael Oliveira, Fabio Ramos2022 · 4 citationsarXiv
Stein Particle Filter for Nonlinear, Non-Gaussian State Estimation2202.04213v1 · Fahira Afzal Maken, Fabio Ramos, Lionel Ott2022 · 27 citationsRobotics and Automation Letters, 2022
A Bayesian Treatment of Real-to-Sim for Deformable Object Manipulation2112.05068v1 · Rika Antonova, Jingyun Yang, Priya Sundaresan et al.2021 · 17 citationsarXiv
Rapid Replanning in Consecutive Pick-and-Place Tasks with Lazy Experience Graph2109.10209v3 · Tin Lai, Fabio Ramos2021 · 2 citationsarXiv
Probabilistic Inference of Simulation Parameters via Parallel Differentiable Simulation2109.08815v2 · Eric Heiden, Christopher E. Denniston, David Millard et al.2021 · 15 citationsarXiv
Parallelised Diffeomorphic Sampling-based Motion Planning2108.11775v2 · Tin Lai, Weiming Zhi, Tucker Hermans et al.2021 · 19 citationsarXiv
Probabilistic Trajectory Prediction with Structural Constraints2107.04193v1 · Weiming Zhi, Lionel Ott, Fabio Ramos2021 · 8 citationsarXiv
BayesSimIG: Scalable Parameter Inference for Adaptive Domain Randomization with IsaacGym2107.04527v1 · Rika Antonova, Fabio Ramos, Rafael Possas et al.2021 · 3 citationsarXiv
Learning ODEs via Diffeomorphisms for Fast and Robust Integration2107.01650v1 · Weiming Zhi, Tin Lai, Lionel Ott et al.2021 · 1 citationarXiv
Stein ICP for Uncertainty Estimation in Point Cloud Matching2106.03287v2 · Fahira Afzal Maken, Fabio Ramos, Lionel Ott2021 · 37 citationsarXiv
DiSECt: A Differentiable Simulation Engine for Autonomous Robotic Cutting2105.12244v1 · Eric Heiden, Miles Macklin, Yashraj Narang et al.2021 · 66 citationsarXiv
STORM: An Integrated Framework for Fast Joint-Space Model-Predictive Control for Reactive Manipulation2104.13542v2 · Mohak Bhardwaj, Balakumar Sundaralingam, Arsalan Mousavian et al.2021 · 65 citations5th Annual Conference on Robot Learning, 2021
Dual Online Stein Variational Inference for Control and Dynamics2103.12890v1 · Lucas Barcelos, Alexander Lambert, Rafael Oliveira et al.2021 · 22 citationsarXiv
BORE: Bayesian Optimization by Density-Ratio Estimation2102.09009v1 · Louis C. Tiao, Aaron Klein, Matthias Seeger et al.2021 · 10 citationsarXiv
PyEquIon: A Python Package For Automatic Speciation Calculations of Aqueous Electrolyte Solutions2101.07246v2 · Caio Felippe Curitiba Marcellos, Gerson Francisco da Silva Junior, Elvis do Amaral Soares et al.2021 · 1 citationarXiv
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