Daniel Rakita

49 papers A* 12A 4B 3Journal 25Unranked 5
YearRankTypeTitle / Venue / Authors
2026 J jnl
Towards Zero-Knowledge Task Planning via a Language-based Approach.
CoRR
Liam Merz Hoffmeister, Brian Scassellati, Daniel Rakita
2025 J jnl
A New Software Tool for Generating and Visualizing Robot Self-Collision Matrices.
CoRR
Roshan Klein-Seetharama, Daniel Rakita
2025 J jnl
APOLLO Blender: A Robotics Library for Visualization and Animation in Blender.
CoRR
Peter Messina, Daniel Rakita
2025 J jnl
Beyond URDF: The Universal Robot Description Directory for Shared, Extensible, and Standardized Robot Models.
CoRR
Roshan Klein-Seetharaman, Daniel Rakita
2025 J jnl
Coherence-based Approximate Derivatives via Web of Affine Spaces Optimization.
CoRR
Daniel Rakita, Chen Liang, Qian Wang
2025 J jnl
Dynamic Rank Adjustment in Diffusion Policies for Efficient and Flexible Training.
CoRR
Xiatao Sun, Shuo Yang, Yinxing Chen, Francis Fan, Yiyan Liang, Daniel Rakita
2025 J jnl
Hybrid Diffusion Policies with Projective Geometric Algebra for Efficient Robot Manipulation Learning.
CoRR
Xiatao Sun, Yuxuan Wang, Shuo Yang, Yinxing Chen, Daniel Rakita
2025 J jnl
Mesh RAG: Retrieval Augmentation for Autoregressive Mesh Generation.
CoRR
Xiatao Sun, Chen Liang, Qian Wang, Daniel Rakita
2025 J jnl
PRISM-DP: Spatial Pose-based Observations for Diffusion-Policies via Segmentation, Mesh Generation, and Pose Tracking.
CoRR
Xiatao Sun, Yinxing Chen, Daniel Rakita
2025 J jnl
Robust and Efficient MuJoCo-based Model Predictive Control via Web of Affine Spaces Derivatives.
CoRR
Chen Liang, Daniel Rakita
2025 J jnl
Subsecond 3D Mesh Generation for Robot Manipulation.
CoRR
Qian Wang, Omar Abdellall, Tony Gao, Xiatao Sun, Daniel Rakita
2025 A conf
Towards Zero-Knowledge Task Planning via a Language-based Approach.
IROS
Liam Merz Hoffmeister, Brian Scassellati, Daniel Rakita
2025 A conf
ad-trait: A Fast and Flexible Automatic Differentiation Library in Rust.
IROS
Chen Liang, Qian Wang, Andy Xu, Daniel Rakita
2025 J jnl
ad-trait: A Fast and Flexible Automatic Differentiation Library in Rust.
CoRR
Chen Liang, Qian Wang, Andy Xu, Daniel Rakita
2024 J jnl
A Comparative Study on State-Action Spaces for Learning Viewpoint Selection and Manipulation with Diffusion Policy.
CoRR
Xiatao Sun, Francis Fan, Yinxing Chen, Daniel Rakita
2024 A conf
Sequential Discrete Action Selection via Blocking Conditions and Resolutions.
IROS
Liam Merz Hoffmeister, Brian Scassellati, Daniel Rakita
2024 J jnl
Sequential Discrete Action Selection via Blocking Conditions and Resolutions.
CoRR
Liam Merz Hoffmeister, Brian Scassellati, Daniel Rakita
2023 A* conf
An Analysis of Unified Manipulation with Robot Arms and Dexterous Hands via Optimization-based Motion Synthesis.
ICRA
Vatsal V. Patel, Daniel Rakita, Aaron M. Dollar
2023 A* conf
Lively: Enabling Multimodal, Lifelike, and Extensible Real-time Robot Motion.
HRI
Andrew J. Schoen, Dakota Sullivan, Ze Dong Zhang, Daniel Rakita, Bilge Mutlu
2023 A* conf
RangedIK: An Optimization-based Robot Motion Generation Method for Ranged-Goal Tasks.
ICRA
Yeping Wang, Pragathi Praveena, Daniel Rakita, Michael Gleicher
2023 J jnl
RangedIK: An Optimization-based Robot Motion Generation Method for Ranged-Goal Tasks.
CoRR
Yeping Wang, Pragathi Praveena, Daniel Rakita, Michael Gleicher
2022 J jnl
MotionBenchMaker: A Tool to Generate and Benchmark Motion Planning Datasets.
IEEE Robotics Autom. Lett.
Constantinos Chamzas, Carlos Quintero-Peña, Zachary Kingston, Andreas Orthey, Daniel Rakita, Michael Gleicher, Marc Toussaint, Lydia E. Kavraki
2022 — conf
Proxima: An Approach for Time or Accuracy Budgeted Collision Proximity Queries.
Robotics: Science and Systems
Daniel Rakita, Bilge Mutlu, Michael Gleicher
2021 A* conf
CollisionIK: A Per-Instant Pose Optimization Method for Generating Robot Motions with Environment Collision Avoidance.
ICRA
Daniel Rakita, Haochen Shi, Bilge Mutlu, Michael Gleicher
2021 J jnl
CollisionIK: A Per-Instant Pose Optimization Method for Generating Robot Motions with Environment Collision Avoidance.
CoRR
Daniel Rakita, Haochen Shi, Bilge Mutlu, Michael Gleicher
2021 J jnl
MotionBenchMaker: A Tool to Generate and Benchmark Motion Planning Datasets.
CoRR
Constantinos Chamzas, Carlos Quintero-Peña, Zachary Kingston, Andreas Orthey, Daniel Rakita, Michael Gleicher, Marc Toussaint, Lydia E. Kavraki
2021 J jnl
Single-query Path Planning Using Sample-Efficient Probability Informed Trees.
IEEE Robotics Autom. Lett.
Daniel Rakita, Bilge Mutlu, Michael Gleicher
2021 J jnl
Single-query Path Planning Using Sample-efficient Probability Informed Trees.
CoRR
Daniel Rakita, Bilge Mutlu, Michael Gleicher
2021 A* conf
Strobe: An Acceleration Meta-algorithm for Optimizing Robot Paths using Concurrent Interleaved Sub-Epoch Pods.
ICRA
Daniel Rakita, Bilge Mutlu, Michael Gleicher
2021 J jnl
Strobe: An Acceleration Meta-algorithm for Optimizing Robot Paths using Concurrent Interleaved Sub-Epoch Pods.
CoRR
Daniel Rakita, Bilge Mutlu, Michael Gleicher
2020 J jnl
An analysis of RelaxedIK: an optimization-based framework for generating accurate and feasible robot arm motions.
Auton. Robots
Daniel Rakita, Bilge Mutlu, Michael Gleicher
2020 A* conf
Effects of Onset Latency and Robot Speed Delays on Mimicry-Control Teleoperation.
HRI
Daniel Rakita, Bilge Mutlu, Michael Gleicher
2020 A* conf
Supporting Perception of Weight through Motion-induced Sensory Conflicts in Robot Teleoperation.
HRI
Pragathi Praveena, Daniel Rakita, Bilge Mutlu, Michael Gleicher
2019 — conf
Remote Telemanipulation with Adapting Viewpoints in Visually Complex Environments.
Robotics: Science and Systems
Daniel Rakita, Bilge Mutlu, Michael Gleicher
2019 A* conf
STAMPEDE: A Discrete-Optimization Method for Solving Pathwise-Inverse Kinematics.
ICRA
Daniel Rakita, Bilge Mutlu, Michael Gleicher
2019 J jnl
Shared control-based bimanual robot manipulation.
Sci. Robotics
Daniel Rakita, Bilge Mutlu, Michael Gleicher, Laura M. Hiatt
2019 A* conf
User-Guided Offline Synthesis of Robot Arm Motion from 6-DoF Paths.
ICRA
Pragathi Praveena, Daniel Rakita, Bilge Mutlu, Michael Gleicher
2018 J jnl
A flexible optimization-based method for synthesizing intent-expressive robot arm motion.
Int. J. Robotics Res.
Christopher Bodden, Daniel Rakita, Bilge Mutlu, Michael Gleicher
2018 A* conf
An Autonomous Dynamic Camera Method for Effective Remote Teleoperation.
HRI
Daniel Rakita, Bilge Mutlu, Michael Gleicher
2018 — conf
RelaxedIK: Real-time Synthesis of Accurate and Feasible Robot Arm Motion.
Robotics: Science and Systems
Daniel Rakita, Bilge Mutlu, Michael Gleicher
2018 A* conf
Shared Dynamic Curves: A Shared-Control Telemanipulation Method for Motor Task Training.
HRI
Daniel Rakita, Bilge Mutlu, Michael Gleicher, Laura M. Hiatt
2017 A* conf
A Motion Retargeting Method for Effective Mimicry-based Teleoperation of Robot Arms.
HRI
Daniel Rakita, Bilge Mutlu, Michael Gleicher
2017 — conf
Methods for Effective Mimicry-based Teleoperation of Robot Arms.
HRI (Companion)
Daniel Rakita
2017 A conf
Recognizing actions during tactile manipulations through force sensing.
IROS
Guru Subramani, Daniel Rakita, Hongyi Wang, Jordan Black, Michael R. Zinn, Michael Gleicher
2017 B conf
Understanding human-robot interaction in virtual reality.
RO-MAN
Oliver Liu, Daniel Rakita, Bilge Mutlu, Michael Gleicher
2016 J jnl
Authoring directed gaze for full-body motion capture.
ACM Trans. Graph.
Tomislav Pejsa, Daniel Rakita, Bilge Mutlu, Michael Gleicher
2016 B conf
Evaluating intent-expressive robot arm motion.
RO-MAN
Christopher Bodden, Daniel Rakita, Bilge Mutlu, Michael Gleicher
2016 B conf
Motion synopsis for robot arm trajectories.
RO-MAN
Daniel Rakita, Bilge Mutlu, Michael Gleicher
2015 — conf
Inferring gaze shifts from captured body motion.
SIGGRAPH Posters
Daniel Rakita, Tomislav Pejsa, Bilge Mutlu, Michael Gleicher