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• Geometric Slosh-Free Tracking for Robotic Manipulators
  2024 · 4 citations
• A Solution to Slosh-free Robot Trajectory Optimization
  2022 · 2 citations
• Coupling Tensor Trains with Graph of Convex Sets: Effective Compression, Exploration, and Planning in the C-Space
  2026
• A Unified Complementarity-based Approach for Rigid-Body Manipulation and Motion Prediction
  2026
• GeoPF: Infusing Geometry into Potential Fields for Reactive Planning in Non-trivial Environments
  2025
• Unifying Complementarity Constraints and Control Barrier Functions for Safe Whole-Body Robot Control
  2025
• GIFT: Geometry-Induced Functional Transfer for Category-level Object Manipulation
  2025
• Coordinate Invariant User-Guided Constrained Path Planning with Reactive Rapidly Expanding Plane-Oriented Escaping Trees
  2022
• A General Formulation for Path Constrained Time-Optimized Trajectory Planning with Environmental and Object Contacts
  2024
• On the Synthesis of Reactive Collision-Free Whole-Body Robot Motions: A Complementarity-based Approach
  2024