Zachary Kingston

62 papers A* 12A 5C 1Journal 40Unranked 4

Year	Rank	Type	Title / Venue / Authors
2026	J	`jnl`	AgenticLab: A Real-World Robot Agent Platform that Can See, Think, and Act. CoRR Pengyuan Guo, Zhonghao Mai, Zhengtong Xu, Kaidi Zhang, Heng Zhang, Zichen Miao, Arash Ajoudani, Zachary Kingston, Qiang Qiu, Yu She
2026	J	`jnl`	Efficient Multi-Robot Motion Planning for Manifold-Constrained Manipulators by Randomized Scheduling and Informed Path Generation. IEEE Robotics Autom. Lett. Weihang Guo, Zachary Kingston, Kaiyu Hang, Lydia E. Kavraki
2026	J	`jnl`	Ultrafast Sampling-based Kinodynamic Planning via Differential Flatness. CoRR Thai Duong, Clayton W. Ramsey, Zachary Kingston, Wil Thomason, Lydia E. Kavraki
2026	J	`jnl`	Variational Shape Inference for Grasp Diffusion on $\mathrm{SE(3)}$. IEEE Robotics Autom. Lett. Syed Talha Bukhari, Kaivalya Agrawal, Zachary Kingston, Aniket Bera
2025	J	`jnl`	AORRTC: Almost-Surely Asymptotically Optimal Planning With RRT-Connect. IEEE Robotics Autom. Lett. Tyler S. Wilson, Wil Thomason, Zachary Kingston, Jonathan D. Gammell
2025	J	`jnl`	AORRTC: Almost-Surely Asymptotically Optimal Planning with RRT-Connect. CoRR Tyler S. Wilson, Wil Thomason, Zachary Kingston, Jonathan D. Gammell
2025	J	`jnl`	CDE: Concept-Driven Exploration for Reinforcement Learning. CoRR Le Mao, Andrew H. Liu, Renos Zabounidis, Zachary Kingston, Joseph Campbell
2025	A*	`conf`	CaStL: Constraints as Specifications Through Llm Translation for Long-Horizon Task and Motion Planning. ICRA Weihang Guo, Zachary Kingston, Lydia E. Kavraki
2025	A*	`conf`	Constrained Nonlinear Kaczmarz Projection on Intersections of Manifolds for Coordinated Multi-Robot Mobile Manipulation. ICRA Akshaya Agrawal, Parker Mayer, Zachary Kingston, Geoffrey A. Hollinger
2025	J	`jnl`	Differentiable Particle Optimization for Fast Sequential Manipulation. CoRR Lucas Chen, Shrutheesh Raman Iyer, Zachary Kingston
2025	J	`jnl`	Evaluating Machine Learning Approaches for ASCII Art Generation. CoRR Sai Coumar, Zachary Kingston
2025	J	`jnl`	Exteroception through Proprioception Sensing through Improved Contact Modeling for Soft Growing Robots. CoRR Francesco Fuentes, Serigne Diagne, Zachary Kingston, Laura H. Blumenschein
2025	J	`jnl`	Foam: A Tool for Spherical Approximation of Robot Geometry. CoRR Sai Coumar, Gilbert Chang, Nihar Kodkani, Zachary Kingston
2025	J	`jnl`	HJCD-IK: GPU-Accelerated Inverse Kinematics through Batched Hybrid Jacobian Coordinate Descent. CoRR Cael Yasutake, Zachary Kingston, Brian Plancher
2025	J	`jnl`	Look as You Leap: Planning Simultaneous Motion and Perception for High-DOF Robots. CoRR Qingxi Meng, Emiliano Flores, Carlos Quintero-Peña, Peizhu Qian, Zachary Kingston, Shannan K. Hamlin, Vaibhav V. Unhelkar, Lydia E. Kavraki
2025	A*	`conf`	Nearest-Neighbourless Asymptotically Optimal Motion Planning with Fully Connected Informed Trees (FCIT*). ICRA Tyler S. Wilson, Wil Thomason, Zachary Kingston, Lydia E. Kavraki, Jonathan D. Gammell
2025	J	`jnl`	Parallel Heuristic Search as Inference for Actor-Critic Reinforcement Learning Models. CoRR Hanlan Yang, Itamar Mishani, Luca Pivetti, Zachary Kingston, Maxim Likhachev
2025	J	`jnl`	Parallel Simulation of Contact and Actuation for Soft Growing Robots. CoRR Yitian Gao, Lucas Chen, Priyanka Bhovad, Sicheng Wang, Zachary Kingston, Laura H. Blumenschein
2025	—	`conf`	Physics-Grounded Differentiable Simulation for Soft Growing Robots. RoboSoft Lucas Chen, Yitian Gao, Sicheng Wang, Francesco Fuentes, Laura H. Blumenschein, Zachary Kingston
2025	J	`jnl`	Physics-Grounded Differentiable Simulation for Soft Growing Robots. CoRR Lucas Chen, Yitian Gao, Sicheng Wang, Francesco Fuentes, Laura H. Blumenschein, Zachary Kingston
2025	J	`jnl`	Revisiting Replanning from Scratch: Real-Time Incremental Planning with Fast Almost-Surely Asymptotically Optimal Planners. CoRR Mitchell E. C. Sabbadini, Andrew H. Liu, Joseph Ruan, Tyler S. Wilson, Zachary Kingston, Jonathan D. Gammell
2025	J	`jnl`	Underwater Multi-Robot Simulation and Motion Planning in Angler. CoRR Akshaya Agrawal, Evan Palmer, Zachary Kingston, Geoffrey A. Hollinger
2025	J	`jnl`	Using VLM Reasoning to Constrain Task and Motion Planning. CoRR Muyang Yan, Miras Mengdibayev, Ardon Floros, Weihang Guo, Lydia E. Kavraki, Zachary Kingston
2025	J	`jnl`	Variational Shape Inference for Grasp Diffusion on SE(3). CoRR Syed Talha Bukhari, Kaivalya Agrawal, Zachary Kingston, Aniket Bera
2025	J	`jnl`	pRRTC: GPU-Parallel RRT-Connect for Fast, Consistent, and Low-Cost Motion Planning. CoRR Chih H. Huang, Pranav Jadhav, Brian Plancher, Zachary Kingston
2024	A*	`conf`	Accelerating Long-Horizon Planning with Affordance-Directed Dynamic Grounding of Abstract Strategies. ICRA Khen Elimelech, Zachary Kingston, Wil Thomason, Moshe Y. Vardi, Lydia E. Kavraki
2024	J	`jnl`	CaStL: Constraints as Specifications through LLM Translation for Long-Horizon Task and Motion Planning. CoRR Weihang Guo, Zachary Kingston, Lydia E. Kavraki
2024	J	`jnl`	Collision-Affording Point Trees: SIMD-Amenable Nearest Neighbors for Fast Collision Checking. CoRR Clayton W. Ramsey, Zachary Kingston, Wil Thomason, Lydia E. Kavraki
2024	—	`conf`	Collision-Affording Point Trees: SIMD-Amenable Nearest Neighbors for Fast Motion Planning with Pointclouds. Robotics: Science and Systems Clayton W. Ramsey, Zachary Kingston, Wil Thomason, Lydia E. Kavraki
2024	J	`jnl`	Constrained Nonlinear Kaczmarz Projection on Intersections of Manifolds for Coordinated Multi-Robot Mobile Manipulation. CoRR Akshaya Agrawal, Parker Mayer, Zachary Kingston, Geoffrey A. Hollinger
2024	J	`jnl`	Efficient Multi-Robot Motion Planning for Manifold-Constrained Manipulators by Randomized Scheduling and Informed Path Generation. CoRR Weihang Guo, Zachary Kingston, Kaiyu Hang, Lydia E. Kavraki
2024	A*	`conf`	Motions in Microseconds via Vectorized Sampling-Based Planning. ICRA Wil Thomason, Zachary Kingston, Lydia E. Kavraki
2024	J	`jnl`	Nearest-Neighbourless Asymptotically Optimal Motion Planning with Fully Connected Informed Trees (FCIT*). CoRR Tyler S. Wilson, Wil Thomason, Zachary Kingston, Lydia E. Kavraki, Jonathan D. Gammell
2024	J	`jnl`	Scaling Long-Horizon Online POMDP Planning via Rapid State Space Sampling. CoRR Yuanchu Liang, Edward Kim, Wil Thomason, Zachary Kingston, Hanna Kurniawati, Lydia E. Kavraki
2024	A*	`conf`	Stochastic Implicit Neural Signed Distance Functions for Safe Motion Planning under Sensing Uncertainty. ICRA Carlos Quintero-Peña, Wil Thomason, Zachary Kingston, Anastasios Kyrillidis, Lydia E. Kavraki
2023	J	`jnl`	Motions in Microseconds via Vectorized Sampling-Based Planning. CoRR Wil Thomason, Zachary Kingston, Lydia E. Kavraki
2023	A*	`conf`	Object Reconfiguration with Simulation-Derived Feasible Actions. ICRA Yiyuan Lee, Wil Thomason, Zachary Kingston, Lydia E. Kavraki
2023	J	`jnl`	Object Reconfiguration with Simulation-Derived Feasible Actions. CoRR Yiyuan Lee, Wil Thomason, Zachary Kingston, Lydia E. Kavraki
2023	A*	`conf`	Optimal Grasps and Placements for Task and Motion Planning in Clutter. ICRA Carlos Quintero-Peña, Zachary Kingston, Tianyang Pan, Rahul Shome, Anastasios Kyrillidis, Lydia E. Kavraki
2023	A	`conf`	Robots as AI Double Agents: Privacy in Motion Planning. IROS Rahul Shome, Zachary Kingston, Lydia E. Kavraki
2023	J	`jnl`	Robots as AI Double Agents: Privacy in Motion Planning. CoRR Rahul Shome, Zachary Kingston, Lydia E. Kavraki
2023	J	`jnl`	Scaling Multimodal Planning: Using Experience and Informing Discrete Search. IEEE Trans. Robotics Zachary Kingston, Lydia E. Kavraki
2023	J	`jnl`	Solving Rearrangement Puzzles Using Path Defragmentation in Factored State Spaces. IEEE Robotics Autom. Lett. Servet B. Bayraktar, Andreas Orthey, Zachary Kingston, Marc Toussaint, Lydia E. Kavraki
2023	J	`jnl`	Stochastic Implicit Neural Signed Distance Functions for Safe Motion Planning under Sensing Uncertainty. CoRR Carlos Quintero-Peña, Wil Thomason, Zachary Kingston, Anastasios Kyrillidis, Lydia E. Kavraki
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	A	`conf`	Robowflex: Robot Motion Planning with MoveIt Made Easy. IROS Zachary Kingston, Lydia E. Kavraki
2022	J	`jnl`	Solving Rearrangement Puzzles using Path Defragmentation in Factored State Spaces. CoRR S. Bora Bayraktar, Andreas Orthey, Zachary Kingston, Marc Toussaint, Lydia E. Kavraki
2021	A*	`conf`	Finite-Horizon Synthesis for Probabilistic Manipulation Domains. ICRA Andrew M. Wells, Zachary Kingston, Morteza Lahijanian, Lydia E. Kavraki, Moshe Y. Vardi
2021	A	`conf`	HyperPlan: A Framework for Motion Planning Algorithm Selection and Parameter Optimization. IROS Mark Moll, Constantinos Chamzas, Zachary Kingston, Lydia E. Kavraki
2021	A*	`conf`	Learning Sampling Distributions Using Local 3D Workspace Decompositions for Motion Planning in High Dimensions. ICRA Constantinos Chamzas, Zachary Kingston, Carlos Quintero-Peña, Anshumali Shrivastava, Lydia E. Kavraki
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`	Robowflex: Robot Motion Planning with MoveIt Made Easy. CoRR Zachary Kingston, Lydia E. Kavraki
2021	A	`conf`	Using Experience to Improve Constrained Planning on Foliations for Multi-Modal Problems. IROS Zachary Kingston, Constantinos Chamzas, Lydia E. Kavraki
2020	A*	`conf`	Informing Multi-Modal Planning with Synergistic Discrete Leads. ICRA Zachary Kingston, Andrew M. Wells, Mark Moll, Lydia E. Kavraki
2020	J	`jnl`	Learning Sampling Distributions Using Local 3D Workspace Decompositions for Motion Planning in High Dimensions. CoRR Constantinos Chamzas, Zachary Kingston, Carlos Quintero-Peña, Anshumali Shrivastava, Lydia E. Kavraki
2019	J	`jnl`	Exploring implicit spaces for constrained sampling-based planning. Int. J. Robotics Res. Zachary Kingston, Mark Moll, Lydia E. Kavraki
2018	J	`jnl`	Sampling-Based Methods for Motion Planning with Constraints. Annu. Rev. Control. Robotics Auton. Syst. Zachary Kingston, Mark Moll, Lydia E. Kavraki
2017	C	`conf`	Decoupling Constraints from Sampling-Based Planners. ISRR Zachary Kingston, Mark Moll, Lydia E. Kavraki
2017	—	`conf`	Robonaut 2 and you: Specifying and executing complex operations. ARSO William Baker, Zachary Kingston, Mark Moll, Julia Badger, Lydia E. Kavraki
2016	—	`conf`	Distributed Object Characterization with Local Sensing by a Multi-robot System. DARS Golnaz Habibi, Sándor P. Fekete, Zachary Kingston, James McLurkin
2015	A*	`conf`	Distributed centroid estimation and motion controllers for collective transport by multi-robot systems. ICRA Golnaz Habibi, Zachary Kingston, William Xie, Mathew Jellins, James McLurkin
2015	A	`conf`	Pipelined Consensus for Global State Estimation in Multi-Agent Systems. AAMAS Golnaz Habibi, Zachary Kingston, Zijian Wang, Mac Schwager, James McLurkin