| Oct 17, 2026 | New preprint: DiPLO combines self-distilled diffusion planning with whole-body tracking for humanoid loco-manipulation, with deployment on a real Unitree G1. [paper] [website] [video] |
| Oct 15, 2026 | DynaRetarget and Humanoid-DART have been accepted to IEEE Robotics and Automation Letters (RA-L)! [DynaRetarget paper] [Humanoid-DART paper] |
| Jul 28, 2026 | Our work FARO received the Best Poster Award at the IEEE RAS Technical Committee on Optimization for Robotics virtual poster session and networking event. [event] [paper] |
| Jul 20, 2026 | New preprint: FARO uses feasibility-aware motion optimization to search for and execute humanoid loco-manipulation behaviors. [paper] [video] |
| Jun 25, 2026 | New preprint: Humanoid-DART combines diffusion-based trajectory generation and reinforcement learning to expand humanoid loco-manipulation skills from sparse demonstrations. [paper] |
| Jun 17, 2026 | Learning to Act Through Contact is published in the proceedings of L4DC 2026, PMLR volume 331. [proceedings] [video] |
| Jun 7, 2026 | New preprint: MotionDisco: Motion Discovery for Extreme Humanoid Loco-Manipulation is now available on arXiv. [paper] [website] [video] |
| Mar 17, 2026 | New preprint: SLowRL combines low-rank adaptation with a recovery policy for safer, more efficient fine-tuning of locomotion policies on hardware. [paper] |
| Feb 10, 2026 | New preprint: DynaRetarget: Dynamically-Feasible Retargeting using Sampling-Based Trajectory Optimization is now available on arXiv. [paper] [website] [video] |
| Oct 6, 2025 | New preprint: Learning to Act Through Contact: A Unified View of Multi-Task Robot Learning is now available on arXiv. [paper] [video] |
| Jul 12, 2024 | Presented our recent work on Learning to Climb Vertical Ladders with Quadrupeds using Carpal-Claw Design at the TC Poster Session and Networking Event 2024 [presentation] [video]. |
| Apr 15, 2024 | I have officially started my PhD with the ATARI Lab at the Technical University of Munich. |
| Sep 30, 2023 | SafeSteps has been accepted to the IEEE-RAS International Conference on Humanoid Robots 2023. |
| Jul 24, 2023 | The preprint of our latest paper on Safe Foothold Adaptations for Legged Robots, SafeSteps, is now available. See the publications section. |
| May 22, 2022 | Joined the Dynamic Legged Systems Lab (DLS@IIT). |