Publications

@inproceedings{chen2026craft,
  title={{CRAFT: Video Diffusion for Bimanual Robot Data Generation}},
  author={Jason Chen and I-Chun Arthur Liu and Gaurav Sukhatme and Daniel Seita},
  booktitle={International Conference on Intelligent Robots and Systems (IROS)},
  Year={2026}
}

[Project Page] [Bibtex] [arXiv]

@inproceedings{jiang2026dexmulti,
  title={{Concurrent Prehensile and Nonprehensile Manipulation: A Practical Approach to Multi-Stage Dexterous Tasks}},
  author={Hao Jiang and Yue Wu and Yue Wang and Gaurav S. Sukhatme and Daniel Seita},
  booktitle={International Conference on Intelligent Robots and Systems (IROS)},
  Year={2026}
}

[Project Page] [Bibtex] [arXiv]

@inproceedings{jiang2026dexmulti,
  title={{HANDFUL: Sequential Grasp-Conditioned Dexterous Manipulation with Resource Awareness}},
  author={Ethan Foong and Yunshuang Li and Hao Jiang and Gaurav S. Sukhatme and Daniel Seita},
  booktitle={International Conference on Intelligent Robots and Systems (IROS)},
  Year={2026}
}

[Project Page] [Bibtex] [arXiv]

@inproceedings{ngyuen2026_icil_iclr,
  title={{ICLR: In-Context Imitation Learning with Visual Reasoning}},
  author={Toan Nguyen and Weiduo Yuan and Songlin Wei and Hui Li and Daniel Seita and Yue Wang},
  booktitle={International Conference on Intelligent Robots and Systems (IROS)},
  Year={2026}
}

[Project Page] [Bibtex] [arXiv]

@inproceedings{srikanth2026qdig,
  title={{Red-Teaming Vision-Language-Action Models via Quality Diversity Prompt Generation for Robust Robot Policies}},
  author={Siddharth Srikanth and Freddie Liang and Ya{-}Chuan Hsu and Varun Bhatt and Shihan Zhao and Henry Chen and Bryon Tjanaka and Minjune Hwang and Akanksha Saran and Daniel Seita and Aaquib Tabrez and Stefanos Nikolaidis},
  booktitle={International Conference on Intelligent Robots and Systems (IROS)},
  Year={2026}
}

[Project Page] [Bibtex] [arXiv]

@inproceedings{shangguan2026prefail,
  title={{PREFAIL: Identifying Precursors to Failures in Robotic Lift-and-Place Tasks to Improve Task Execution Performance}},
  author={Zeyu Shangguan and Rajas Chitale and Rutvik Patel and Satyandra K. Gupta and Daniel Seita},
  booktitle={International Conference on Intelligent Robots and Systems (IROS)},
  Year={2026}
}

[Project Page] [Bibtex] [arXiv]

@inproceedings{hiranaka2026sensei,
  title={{Fix the Mind, Not the Move: Interpretable AI Assistance via Knowledge-Gap Localization}},
  author={Ayano Hiranaka and Ya-Chuan Hsu and Stefanos Nikolaidis and Erdem Bıyık and Daniel Seita},
  booktitle={International Conference on Machine Learning (ICML)},
  Year={2026}
}

[Project Page] [Bibtex] [arXiv]

@inproceedings{gao2026LAM,
  title={{LAM: Language Articulated Object Modelers}},
  author={Yipeng Gao and Yunhao Ge and Peilin Cai and Daniel Seita and Laurent Itti},
  booktitle={Computer Vision and Pattern Recognition (CVPR)},
  Year={2026}
}

[Project Page] [Bibtex] [arXiv]

@inproceedings{chen2026ropa,
  title={{ROPA: Synthetic Robot Pose Generation for RGB-D Bimanual Data Augmentation}},
  author={Jason Chen and I-Chun Arthur Liu and Gaurav Sukhatme and Daniel Seita},
  booktitle={International Conference on Robotics and Automation (ICRA)},
  Year={2026}
}

[Project Page] [Bibtex] [arXiv]

@inproceedings{li2026nonprehensile,
  title={{Learning Geometry-Aware Nonprehensile Pushing and Pulling with Dexterous Hands}},
  author={Yunshuang Li and Yiyang Ling and Gaurav Sukhatme and Daniel Seita},
  booktitle={International Conference on Robotics and Automation (ICRA)},
  Year={2026}
}

[Project Page] [Bibtex] [arXiv]

@inproceedings{ling2026impact,
  title={{IMPACT: Intelligent Motion Planning with Acceptable Contact Trajectories via Vision-Language Models}},
  author={Yiyang Ling and Karan Owalekar and Oluwatobiloba Adesanya and Erdem Bıyık and Daniel Seita},
  booktitle={International Conference on Robotics and Automation (ICRA)},
  Year={2026}
}

[Project Page] [Bibtex] [arXiv]

@inproceedings{aladin2026vmorals,
  title={{V-MORALS: Visual Morse Graph-Aided Discovery of Regions of Attraction in a Learned Space}},
  author={Faiz Aladin and Ashwin Balasubramanian and Lars Lindemann and Daniel Seita},
  booktitle={International Conference on Robotics and Automation (ICRA)},
  Year={2026}
}

[Project Page] [Bibtex] [arXiv]

@inproceedings{wang2026scooping,
  title={{SCOOP'D: State-based Sim2Real Generative Policy for Generalizable Mixed-Liquid-Solid Scooping}},
  author={Kuanning Wang and Yongchong Gu and Yuqian Fu and Zeyu Shangguan and Sicheng He and Xiangyang Xue and Yanwei Fu and Daniel Seita},
  booktitle={International Conference on Robotics and Automation (ICRA)},
  Year={2026}
}

[Project Page] [Bibtex] [arXiv]

@inproceedings{wang2026orca,
  title={{OCRA: Object-Centric Learning with 3D and Tactile Priors for Human-to-Robot Action Transfer}},
  author={Kuanning Wang and Ke Fan and Yuqian Fu and Siyu Lin and Hu Luo and Daniel Seita and Yanwei Fu and Yu{-}Gang Jiang and Xiangyang Xue},
  booktitle={International Conference on Robotics and Automation (ICRA)},
  Year={2026}
}

[Project Page] [Bibtex] [arXiv]

@inproceedings{sarawgi2026binpacking,
  title={{Preference-Conditioned Reinforcement Learning for Space-Time Efficient Online 3D Bin Packing}},
  author={Nikita Sarawgi and Omey M. Manyar and Fan Wang and Thinh H. Nguyen and Daniel Seita and Satyandra K. Gupta},
  booktitle={International Conference on Robotics and Automation (ICRA)},
  Year={2026}
}

[Project Page] [Bibtex] [arXiv]

@inproceedings{hwang2026recouple,
  title={{Causally Robust Reward Learning From Reason-Augmented Preference Feedback}},
  author={Minjune Hwang and Yigit Korkmaz and Daniel Seita and Erdem Bıyık},
  booktitle={International Conference on Learning Representations (ICLR)},
  Year={2026}
}

[Project Page] [Bibtex] [arXiv]

@inproceedings{lou2026DREX,
  title={{D-REX: Differentiable Real-to-Sim-to-Real Engine for Learning Dexterous Grasping}},
  author={Haozhe Lou and Mingtong Zhang and Haoran Geng and Hanyang Zhou and Sicheng He and Zhiyuan Gao and Siheng Zhao and Jiageng Mao and Pieter Abbeel and Jitendra Malik and Daniel Seita and Yue Wang},
  booktitle={International Conference on Learning Representations (ICLR)},
  Year={2026}
}

[Project Page] [Bibtex] [arXiv]

@inproceedings{zhao2025ManipBench,
  title={{ManipBench: Benchmarking Vision-Language Models for Low-Level Robot Manipulation}},
  author={Enyu Zhao and Vedant Raval and Hejia Zhang and Jiageng Mao and Zeyu Shangguan and Stefanos Nikolaidis and Yue Wang and Daniel Seita},
  booktitle={Conference on Robot Learning (CoRL)},
  Year={2025}
}

[Project Page] [Bibtex] [arXiv]

@inproceedings{liu2025DCODA,
  title={{D-CODA: Diffusion for Coordinated Dual-Arm Data Augmentation}},
  author={I-Chun Arthur Liu and Jason Chen and Gaurav Sukhatme and Daniel Seita},
  booktitle={Conference on Robot Learning (CoRL)},
  Year={2025}
}

[Project Page] [Bibtex] [arXiv]

@inproceedings{hu2025DiffusiveGRAIN,
  title={{Granular Loco-Manipulation: Repositioning Rocks Through Strategic Sand Avalanche}},
  author={Haodi Hu and Yue Wu and Feifei Qian and Daniel Seita},
  booktitle={Conference on Robot Learning (CoRL)},
  Year={2025}
}

[Project Page] [Bibtex] [arXiv]

@inproceedings{zhao2025RoLA,
  title={{Robot Learning from Any Images}},
  author={Siheng Zhao and Jiageng Mao and Wei Chow and Zeyu Shangguan and Tianheng Shi and Rong Xue and Yuxi Zheng and Yijia Weng and Yang You and Daniel Seita and Leonidas Guibas and Sergey Zakharov and Vitor Campagnolo Guizilini and Yue Wang},
  booktitle={Conference on Robot Learning (CoRL)},
  Year={2025}
}

[Project Page] [Bibtex] [arXiv]

@inproceedings{he2025seqdex,
  title={{Sequential Multi-Object Grasping with One Dexterous Hand}},
  author={Sicheng He and Zeyu Shangguan and Kuanning Wang and Yongchong Gu and Yuqian Fu and Yanwei Fu and Daniel Seita},
  booktitle={International Conference on Intelligent Robots and Systems (IROS)},
  Year={2025}
}

[Project Page] [Bibtex] [arXiv]

@inproceedings{Zhou2025MOTIF,
  title={{The MOTIF Hand: A Robotic Hand for Multimodal Observations with Thermal, Inertial, and Force Sensors}},
  author={Hanyang Zhou and Haozhe Lou and Wenhao Liu and Enyu Zhao and Yue Wang and Daniel Seita},
  booktitle={International Symposium on Experimental Robotics (ISER)},
  Year={2025}
}

[Project Page] [Bibtex] [arXiv]

@inproceedings{Shi2025HRIBench,
  title = {{HRIBench: Benchmarking Vision-Language Models for Real-Time Human Perception in Human-Robot Interaction}},
  author={Zhonghao Shi and Enyu Zhao and Nathaniel Dennler and Jingzhen Wang and Xinyang Xu and Kaleen Shrestha and Mengxue Fu and Daniel Seita and Maja Mataric},
  booktitle={International Symposium on Experimental Robotics (ISER)},
  Year = {2025}
}

[Project Page] [Bibtex] [arXiv]

@inproceedings{chow2025physbench,
  title = {{PhysBench: Benchmarking and Enhancing Vision-Language Models for Physical World Understanding}},
  author = {Wei Chow and Jiageng Mao and Boyi Li and Daniel Seita and Vitor Campagnolo Guizilini and Yue Wang},
  booktitle = {International Conference on Learning Representations (ICLR)},
  Year = {2025}
}

[Project Page] [Bibtex] [arXiv] [OpenReview]

@inproceedings{zeyu2025cdmmfsod,
  title = {{Cross-domain Multi-modal Few-shot Object Detection via Rich Text}},
  author = {Zeyu Shangguan and Daniel Seita and Mohammad Rostami},
  booktitle = {IEEE/CVF Winter Conference on Applications of Computer Vision (WACV)},
  Year = {2025}
}

[Project Page] [Bibtex] [arXiv]

@inproceedings{Hao2024SopeDex,
  title = {{Learning to Singulate Objects in Packed Environments using a Dexterous Hand}},
  author = {Hao Jiang and Yuhai Wang and Hanyang Zhou and Daniel Seita}, 
  booktitle = {International Symposium of Robotics Research (ISRR)},
  Year = {2024}
}

[Project Page] [Bibtex] [arXiv]

@inproceedings{raval2024gptfabric,
  title = {{GPT-Fabric: Smoothing and Folding Fabric by Leveraging Pre-Trained Foundation Models}},
  author = {Vedant Raval and Enyu Zhao and Hejia Zhang and Stefanos Nikolaidis and Daniel Seita},
  booktitle = {International Symposium of Robotics Research (ISRR)},
  Year = {2024}
}

[Project Page] [Bibtex] [arXiv]

@inproceedings{hu2024grain,
  title = {{Learning Granular Media Avalanche Behavior for Indirectly Manipulating Obstacles on a Granular Slope}},
  author = {Haodi Hu and Feifei Qian and Daniel Seita},
  booktitle = {Conference on Robot Learning (CoRL)},
  Year = {2024}
}

[Project Page] [Bibtex] [arXiv]

@inproceedings{liu2024voxactb,
  title = {{VoxAct-B: Voxel-Based Acting and Stabilizing Policy for Bimanual Manipulation}},
  author = {I-Chun Arthur Liu and Sicheng He and Daniel Seita and Gaurav Sukhatme},
  booktitle = {Conference on Robot Learning (CoRL)},
  Year = {2024}
}

[Project Page] [Bibtex] [arXiv]

@inproceedings{slipbagging2023,
  title={{Bagging by Learning to Singulate Layers Using Interactive Perception}},
  author={Lawrence Yunliang Chen and Baiyu Shi and Roy Lin and Daniel Seita and Ayah Ahmad and Richard Cheng and Thomas Kollar and David Held and Ken Goldberg},
  booktitle={International Conference on Intelligent Robots and Systems (IROS)},
  year={2023}
}

[Project Page] [Bibtex] [arXiv]

@inproceedings{autobag2023,
  title={{AutoBag: Learning to Open Plastic Bags and Insert Objects}},
  author={Lawrence Yunliang Chen and Baiyu Shi and Daniel Seita and Richard Cheng and Thomas Kollar and David Held and Ken Goldberg and Ken Goldberg and Ken Goldberg and Ken Goldberg and Ken Goldberg and Ken Goldberg},
  booktitle={International Conference on Robotics and Automation (ICRA)},
  year={2023}
}

[Project Page] [Bibtex] [arXiv] [Twitter]

@inproceedings{Seita2022toolflownet,
  title={{ToolFlowNet: Robotic Manipulation with Tools via Predicting Tool Flow from Point Clouds}},
  author={Seita, Daniel and Wang, Yufei and Shetty, Sarthak and Li, Edward and Erickson, Zackory and Held, David},
  booktitle={Conference on Robot Learning (CoRL)},
  year={2022}
}

[Project Page] [Bibtex] [arXiv] [Poster] [Talk] [Twitter]

@inproceedings{tirumala2022reskin,
  title={{Learning to Singulate Layers of Cloth using Tactile Feedback}},
  author={Tirumala, Sashank and Weng, Thomas and Seita, Daniel and Kroemer, Oliver and Temel, Zeynep and Held, David},
  booktitle={International Conference on Intelligent Robots and Systems (IROS)},
  year={2022}
}

[Project Page] [Bibtex] [arXiv] [Twitter] [Cosmos]

@inproceedings{flinging_2022,
  title={{Efficiently Learning Single-Arm Fling Motions to Smooth Garments}},
  author={Lawrence Yunliang Chen and Huang Huang and Ellen Novoseller and Daniel Seita and Jeffrey Ichnowski and Michael Laskey and Richard Cheng and Thomas Kollar and Ken Goldberg},
  booktitle={International Symposium on Robotics Research (ISRR)},
  Year={2022}
}

[Project Page] [Bibtex] [arXiv]

@inproceedings{minho_superhuman_2022,
  title = {{Automating Surgical Peg Transfer: Calibration with Deep Learning Can Exceed Speed, Accuracy, and Consistency of Humans}},
  author = {Minho Hwang and Jeffrey Ichnowski and Brijen Thananjeyan and Daniel Seita and Samuel Paradis and Danyal Fer and Thomas Low and Ken Goldberg},
  booktitle = {IEEE Transactions on Automation Science and Engineering (TASE)},
  Year = {2022}
}

[Project Page] [Bibtex] [arXiv] [NYTimes]

@inproceedings{lim2022planar,
  title = {{Planar Robot Casting with Real2Sim2Real Self-Supervised Learning}},
  author = {Vincent Lim and Huang Huang and Lawrence Yunliang Chen and Jonathan Wang and Jeffrey Ichnowski and Daniel Seita and Michael Laskey and Ken Goldberg},
  booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
  year = {2022}
}

[Project Page] [Bibtex] [arXiv] [Twitter]

@article{fabric_vsf_2021,
  title = {{VisuoSpatial Foresight for Physical Sequential Fabric Manipulation}},
  author = {Ryan Hoque and Daniel Seita and Ashwin Balakrishna and Aditya Ganapathi and Ajay Tanwani and Nawid Jamali and Katsu Yamane and Soshi Iba and Ken Goldberg},
  journal = {arXiv preprint arXiv:2102.09754},
  Year = {2021}
}

[Project Page] [Bibtex] [arXiv] [Blog]

@inproceedings{lazydagger_2021,
  title = {{LazyDAgger: Reducing Context Switching in Interactive Imitation Learning}},
  author = {Ryan Hoque and Ashwin Balakrishna and Carl Putterman and Michael Luo and Daniel S. Brown and Daniel Seita and Brijen Thananjeyan and Ellen Novoseller and Ken Goldberg},
  booktitle = {IEEE International Conference on Automation Science and Engineering (CASE)},
  Year = {2021}
}

[Project Page] [Bibtex] [arXiv]

@inproceedings{seita_bags_2021,
  title = {{Learning to Rearrange Deformable Cables, Fabrics, and Bags with Goal-Conditioned Transporter Networks}},
  author = {Daniel Seita and Pete Florence and Jonathan Tompson and Erwin Coumans and Vikas Sindhwani and Ken Goldberg and Andy Zeng},
  booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
  Year = {2021}
}

[Project Page] [Bibtex] [arXiv] [Blog] [Talk]

@inproceedings{harry_rope_2021,
  title = {{Robots of the Lost Arc: Self-Supervised Learning to Dynamically Manipulate Fixed-Endpoint Cables}},
  author = {Harry Zhang and Jeff Ichnowski and Daniel Seita and Jonathan Wang and Huang Huang and Ken Goldberg},
  booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
  Year = {2021}
}

[Project Page] [Bibtex] [arXiv]

@inproceedings{descriptors_fabrics_2021,
  title = {{Learning Dense Visual Correspondences in Simulation to Smooth and Fold Real Fabrics}},
  author = {Aditya Ganapathi and Priya Sundaresan and Brijen Thananjeyan and Ashwin Balakrishna and Daniel Seita and Jennifer Grannen and Minho Hwang and Ryan Hoque and Joseph Gonzalez and Nawid Jamali and Katsu Yamane and Soshi Iba and Ken Goldberg},
  booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
  Year = {2021}
}

[Project Page] [Bibtex] [arXiv]

@inproceedings{sam_ivs_2021,
  title = {{Intermittent Visual Servoing: Efficiently Learning Policies Robust to Instrument Changes for High-precision Surgical Manipulation}},
  author = {Samuel Paradis and Minho Hwang and Brijen Thananjeyan and Jeffrey Ichnowski and Daniel Seita and Danyal Fer and Thomas Low and Joseph E. Gonzalez and Ken Goldberg},
  booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
  Year = {2021}
}

[Project Page] [Bibtex] [arXiv]

@inproceedings{seita_fabrics_2020,
  title = {{Deep Imitation Learning of Sequential Fabric Smoothing From an Algorithmic Supervisor}},
  author = {Daniel Seita and Aditya Ganapathi and Ryan Hoque and Minho Hwang and Edward Cen and Ajay Kumar Tanwani and Ashwin Balakrishna and Brijen Thananjeyan and Jeffrey Ichnowski and Nawid Jamali and Katsu Yamane and Soshi Iba and John Canny and Ken Goldberg},
  booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  Year = {2020}
}

[Project Page] [Bibtex] [arXiv] [Blog]

@inproceedings{minho_calibration_2020,
  title = {{Efficiently Calibrating Cable-Driven Surgical Robots with RGBD Fiducial Sensing and Recurrent Neural Networks}},
  author = {Minho Hwang and Brijen Thananjeyan and Samuel Paradis and Daniel Seita and Jeffrey Ichnowski and Danyal Fer and Thomas Low and Ken Goldberg},
  booktitle = {IEEE Robotics and Automation Letters (RA-L)},
  Year = {2020}
}

[Project Page] [Bibtex] [arXiv]

@inproceedings{fabric_vsf_2020,
  title = {{VisuoSpatial Foresight for Multi-Step, Multi-Task Fabric Manipulation}},
  author = {Ryan Hoque and Daniel Seita and Ashwin Balakrishna and Aditya Ganapathi and Ajay Tanwani and Nawid Jamali and Katsu Yamane and Soshi Iba and Ken Goldberg},
  booktitle = {Robotics: Science and Systems (RSS)},
  Year = {2020}
}

[Project Page] [Bibtex] [arXiv] [Blog]

@inproceedings{minho_pegs_2020,
  title = {{Applying Depth-Sensing to Automated Surgical Manipulation with a da Vinci Robot}},
  author = {Minho Hwang and Daniel Seita and Brijen Thananjeyan and Jeffrey Ichnowski and Samuel Paradis and Danyal Fer and Thomas Low and Ken Goldberg},
  booktitle = {International Symposium on Medical Robotics (ISMR)},
  Year = {2020}
}

[Project Page] [Bibtex] [arXiv]

@inproceedings{seita_bedmake_2019,
  title = {{Deep Transfer Learning of Pick Points on Fabric for Robot Bed-Making}},
  author = {Daniel Seita and Nawid Jamali and Michael Laskey and Ron Berenstein and Ajay Kumar Tanwani and Prakash Baskaran and Soshi Iba and John Canny and Ken Goldberg},
  booktitle = {International Symposium on Robotics Research (ISRR)},
  Year = {2019}
}

[Project Page] [Bibtex] [arXiv] [Blog]

@inproceedings{xinlei_icra_2019,
  title = {{Risk Averse Robust Adversarial Reinforcement Learning}},
  author = {Xinlei Pan and Daniel Seita and Yang Gao and John Canny},
  booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
  Year = {2019}
}

[Project Page] [Bibtex] [arXiv]

@inproceedings{seita_icra_2018,
  title = {{Fast and Reliable Autonomous Surgical Debridement with Cable-Driven Robots Using a Two-Phase Calibration Procedure}},
  author = {Daniel Seita and Sanjay Krishnan and Roy Fox and Stephen McKinley and John Canny and Kenneth Goldberg},
  booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
  Year = {2018}
}

[Project Page] [Bibtex] [arXiv]

@inproceedings{seita_uai_2017,
  title = {{An Efficient Minibatch Acceptance Test for Metropolis-Hastings}},
  author = {Seita, Daniel and Pan, Xinlei and Chen, Haoyu and Canny, John},
  booktitle = {Conference on Uncertainty in Artificial Intelligence (UAI)},
  year = {2017}
}

[Project Page] [Bibtex] [arXiv] [Blog]

@inproceedings{seita_simpar_2016,
  title = {{Large-Scale Supervised Learning of the Grasp Robustness of Surface Patch Pairs}},
  author = {Daniel Seita and Florian T. Pokorny and Jeffrey Mahler and Danica Kragic and Michael Franklin and John Canny and Ken Goldberg},
  booktitle = {IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR)},
  Year = {2016}
}

[Project Page] [Bibtex] [PDF]

@inproceedings{initial_results_bags_2021,
  title={{Initial Results on Grasping and Lifting Physical Deformable Bags with a Bimanual Robot}},
  author={Daniel Seita and Justin Kerr and John Canny and Ken Goldberg},
  booktitle={IROS Workshop on Deformable Object Manipulation},
  year={2021}
}

[Project Page] [Bibtex] [PDF]