Benchmarking Knowledge Transfer in Lifelong Robot Learning

Neural Moving Horizon Estimation (NeuroMHE) is an auto-tuning and adaptive optimal estimator. It fuses a nueral network with an MHE to render fast online adaptation to state-dependent noise. The ne…

ReKep: Spatio-Temporal Reasoning of Relational Keypoint Constraints for Robotic Manipulation

Safe Planning with Diffusion Probabilistic Models

Official codebase for PRESTO (Planning with Environment Representation, Sampling, and Trajectory Optimization)

[RA-L/ICRA2025] Official implementation for paper "Diverse Controllable Diffusion Policy with Signal Temporal Logic."

Multi-Robot Motion Planning with Diffusion Models

Group project for CMSC723 Graduate NLP at UMD Fall 2024