2026
Scalable Policy Evaluation with Video World Models
Wei-Cheng Tseng, Jinwei Gu, Qinsheng Zhang, Hanzi Mao, Ming-Yu Liu, Florian Shkurti, and Lin Yen-Chen
arXiv
Publications
What Do You Need for Diverse Trajectory Composition in Diffusion Planning?
Quentin Clark, and Florian Shkurti
arXiv
[pdf]
2025
STITCH-OPE: Trajectory Stitching with Guided Diffusion for Off-Policy Evaluation
Hossein Goli, Michael Gimelfarb, Nathan Samuel de Lara, Haruki Nishimura, Masha Itkina, and Florian Shkurti
Neural Information Processing Systems (NeurIPS) [spotlight]
[pdf]
SAFE: Multitask Failure Detection for Vision-Language-Action Models
Qiao Gu, Yuanliang Ju, Shengxiang Sun, Igor Gilitschenski, Haruki Nishimura, Masha Itkina, and Florian Shkurti
Neural Information Processing Systems (NeurIPS)
MATTERIX: Towards a Digital Twin for Robotics-Assisted Chemistry Lab Automation
Kourosh Darvish, Arjun Sohal, Abhijoy Mandal, Hatem Fakhruldeen, Nikola Radulov, Zhengxue Zhou, Joshua Choi, Skyler Han, Brayden Zhang, Jeeyeoun Chae, Satheeshkumar Veeramani, Alex Wright, Yijie Wang, Hossein Darvish, Yuchi (Allan) Zhao, Gary Tom, Han Hao, Miroslav Bogdanovic, Gabriella Pizzuto, Andrew Cooper, Alan Aspuru Guzik, Florian Shkurti, and Animesh Garg
Nature Computational Science
Generalization in VAE and Diffusion Models: A Unified Information-Theoretic Analysis
Qi Chen, Jerry Zhu, and Florian Shkurti
International Conference on Learning Representations (ICLR)
[pdf]
Gaussian Splatting Visual MPC for Granular Media Manipulation
Wei-Cheng Tseng, Ellina Zhang, Krishna Murthy Jatavallabhula, and Florian Shkurti
IEEE International Conference on Robotics and Automation (ICRA)
[pdf]
Automated Planning Domain Inference for Task and Motion Planning
Jinbang Huang, Allen Tao, Rozilyn Marco, Miroslav Bogdanovic, Jonathan Kelly, and Florian Shkurti
IEEE International Conference on Robotics and Automation (ICRA)
[pdf]
Search-TTA: A Multimodal Test-Time Adaptation Framework for Visual Search in the Wild
Derek Ming Siang Tan, Shailesh, Boyang Liu, Alok Raj, Qi Xuan Ang, Weiheng Dai, Tanishq Duhan, Jimmy Chiun, Yuhong Cao, Florian Shkurti, Guillaume Sartoretti
Conference on Robot Learning (CoRL)
SICNav-Diffusion: Safe and Interactive Crowd Navigation With Diffusion Trajectory Predictions
Sepehr Samavi, Anthony Lem, Fumiaki Sato, Sirui Chen, Qiao Gu, Keijiro Yano, Angela P. Schoellig, and Florian Shkurti
IEEE Robotics and Automation Letters (RA-L)
RoboCulture: A Robotics Platform for Automated Biological Experimentation
Kevin Angers, Kourosh Darvish, Naruki Yoshikawa, Sargol Okhovatian, Dawn Bannerman, Ilya Yakavets, Florian Shkurti, Alán Aspuru-Guzik, and Milica Radisic
arXiv
2024
ORGANA: A Robotic Assistant for Automated Chemistry Experimentation and Characterization
Kourosh Darvish, Marta Skreta, Yuchi Zhao, Naruki Yoshikawa, Sagnik Som, Miroslav Bogdanovic, Yang Cao, Han Hao, Haoping Xu, Alán Aspuru-Guzik, Animesh Garg, and Florian Shkurti
Matter
SICNav: Safe and Interactive Crowd Navigation using Model Predictive Control and Bilevel Optimization
Sepehr Samavi, James Han, Florian Shkurti, and Angela P. Schoellig
IEEE Transactions on Robotics (T-RO)
ConceptGraphs: Open-Vocabulary 3D Scene Graphs for Perception and Planning
Qiao Gu, Alihusein Kuwajerwala, Sacha Morin, Krishna Murthy Jatavallabhula, Bipasha Sen, Aditya Agarwal, Corban Rivera, William Paul, Kirsty Ellis, Rama Chellappa, Chuang Gan, Celso Miguel de Melo, Joshua B. Tenenbaum, Antonio Torralba, Florian Shkurti, and Liam Paull
IEEE International Conference on Robotics and Automation (ICRA)
Field Testing of a Stochastic Planner for ASV Navigation System using Satellite Images
Yizhou Huang, Tony Wang, Florian Shkurti, and Timothy D. Barfoot
Field Robotics
2023
ConceptFusion: Open-set Multimodal 3D Mapping
Krishna Murthy Jatavallabhula, Alihusein Kuwajerwala, Qiao Gu, Mohd Omama, Tao Chen, Shuang Li, Ganesh Iyer, Soroush Saryazdi, Nikhil Keetha, Ayush Tewari, Joshua B. Tenenbaum, Celso Miguel de Melo, Madhava Krishna, Liam Paull, Florian Shkurti, and Antonio Torralba
Robotics: Science and Systems (RSS)
Sparsifiner: Learning Sparse Instance-Dependent Attention for Efficient Vision Transformers
Cong Wei, Brendan Duke, Ruowei Jiang, Parham Aarabi, Graham Taylor, and Florian Shkurti
IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR)
[pdf]
Preserving Linear Separability in Continual Learning by Backward Feature Projection
Qiao Gu, Dongsub Shim, and Florian Shkurti
IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR)
Policy-Guided Lazy Search with Feedback for Task and Motion Planning
Mohamed Khodeir, Atharv Sonwane, Ruthrash Hari, and Florian Shkurti
IEEE International Conference on Robotics and Automation (ICRA)
Stochastic Planning for ASV Navigation Using Satellite Images
Yizhou Huang, Hamza Dugmag, Tim D. Barfoot, and Florian Shkurti
IEEE International Conference on Robotics and Automation (ICRA)
MVTrans: Multi-View Perception of Transparent Objects
Yi Ru Wang, Yuchi Zhao, Haoping Xu, Saggi Eppel, Alan Aspuru-Guzik, Florian Shkurti, and Animesh Garg
IEEE International Conference on Robotics and Automation (ICRA)
Large Language Models for lab automation robotics
Naruki Yoshikawa, Marta Skreta, Kourosh Darvish, Sebastian Arellano-Rubach, Zhi Ji, Lasse Bjørn Kristensen, Andrew Zou Li, Yuchi Zhao, Haoping Xu, Artur Kuramshin, Alán Aspuru-Guzik, Florian Shkurti, Animesh Garg
Autonomous Robots
Generating Transferable Adversarial Simulation Scenarios for Self-Driving via Neural Rendering
Yasasa Abeysirigoonawardena, Kevin Xie, Chuhan Chen, Salar Hosseini Khorasgani, Ruiting Chen, Ruiqi Wang, and Florian Shkurti
7th Conference on Robot Learning (CoRL)
STAMP: Differentiable Task and Motion Planning via Stein Variational Gradient Descent
Yewon Lee, Philip Huang, Krishna Murthy Jatavallabhula, Andrew Z. Li, Fabian Damken, Eric Heiden, Kevin Smith, Derek Nowrouzezahrai, Fabio Ramos, and Florian Shkurti
[pdf]
Learning to Search in Task and Motion Planning with Streams
Mohamed Khodeir, Ben Agro, and Florian Shkurti
Robotics and Automation Letters (RA-L)
2022
Augmenting Imitation Experience via Equivariant Representations
Dhruv Sharma, Alihusein Kuwajerwala, and Florian Shkurti
International Conference on Robotics and Automation (ICRA)
SLIC: Self-Supervised Learning With Iterative Clustering for Human Action Videos
Salar Hosseini Khorasgani, Yuxuan Chen, and Florian Shkurti
IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR)
Chemistry Lab Automation via Constrained Task and Motion Planning
Naruki Yoshikawa, Andrew Zou Li, Kourosh Darvish, Yuchi Zhao, Haoping Xu, Alan Aspuru-Guzik, Animesh Garg, and Florian Shkurti
ArXiv
2021
Physics-Based Human Motion Estimation and Synthesis From Videos
Kevin Xie, Tingwu Wang, Umar Iqbal, Yunrong Guo, Sanja Fidler, and Florian Shkurti
Proceedings of the IEEE/CVF International Conference on Computer Vision (ICCV)
Conservative Safety Critics for Exploration
Homanga Bharadhwaj, Aviral Kumar, Nicholas Rhinehart, Sergey Levine, Florian Shkurti, and Animesh Garg
International Conference on Learning Representations (ICLR)
[pdf]
gradSim: Differentiable simulation for system identification and visuomotor control
Krishna Jatavallabhula, Miles Macklin, Florian Golemo, Vikram Voleti, Linda Petrini, Martin Weiss, Breandan Considine, Jerome Parent-Levesque, Kevin Xie, Kenny Erleben, Liam Paull, Florian Shkurti, Sanja Fidler, and Derek Nowrouzezahrai
International Conference on Learning Representations (ICLR)
Skill Transfer via Partially Amortized Hierarchical Planning
Kevin Xie, Homanga Bharadhwaj, Danijar Hafner, Animesh Garg, and Florian Shkurti
International Conference on Learning Representations (ICLR)
[pdf]
LEAF: Latent Exploration Along the Frontier
Homanga Bharadhwaj, Animesh Garg, and Florian Shkurti
IEEE International Conference on Robotics and Automation (ICRA)
Shaping Rewards for Reinforcement Learning with Imperfect Demonstrations using Generative Models
Yuchen Wu, Melissa Mozifian, and Florian Shkurti
IEEE International Conference on Robotics and Automation (ICRA)
[pdf]
Continual Model-Based Reinforcement Learning with Hypernetworks
Yizhou Huang, Kevin Xie, Homanga Bharadhwaj, and Florian Shkurti
IEEE International Conference on Robotics and Automation (ICRA)
[pdf]
Seeing Glass: Joint Point-Cloud and Depth Completion for Transparent Objects
Haoping Xu, Yi Ru Wang, Sagi Eppel, Alan Aspuru-Guzik, Florian Shkurti, and Animesh Garg
Conference on Robot Learning (CoRL)
Taskography: Evaluating robot task planning over large 3D scene graphs
Christopher Agia, Krishna Murthy Jatavallabhula, Mohamed Khodeir, Ondrej Miksik, Vibhav Vineet, Mustafa Mukadam, Liam Paull, and Florian Shkurti
Conference on Robot Learning (CoRL)
LOHO: Latent Optimization of Hairstyles via Orthogonalization
Rohit Saha, Brendan Duke, Florian Shkurti, Graham Taylor, and Parham Aarabi
Computer Vision and Pattern Recognition (CVPR)
[pdf]
DIBS: Diversity-Inducing Information Bottleneck in Model Ensembles
Samarth Sinha, Homanga Bharadhwaj, Anirudh Goyal, Hugo Larochelle, Animesh Garg, and Florian Shkurti
Association for the Advancement of Artificial Intelligence (AAAI)
[pdf]
2020
Vision-Based Goal-Conditioned Policies for Underwater Navigation in the Presence of Obstacles
Travis Manderson, Juan Camilo Gamboa Higuera, Stefan Wapnick, Jean-François Tremblay, Florian Shkurti, David Meger, and Gregory Dudek
Robotics: Science and Systems (RSS)
One-Shot Informed Robotic Visual Search in the Wild
Karim Koreitem, Florian Shkurti, Travis Manderson, Wei-Di Chang, Juan Camilo Gamboa Higuera, and Gregory Dudek
IEEE International Conference on Intelligent Robots and Systems (IROS)
Catch the Ball: Accurate High-Speed Motions for Mobile Manipulators via Inverse Dynamics Learning
Ke Dong, Karime Pereida, Florian Shkurti, and Angela P. Schoellig
IEEE International Conference on Intelligent Robots and Systems (IROS)
Model-Predictive Control via Cross-Entropy and Gradient-Based Optimization
Homanga Bharadhwaj, Kevin Xie, and Florian Shkurti
Conference on Learning for Dynamics and Control (L4DC)
[pdf]
2019
Generating Adversarial Driving Scenarios in High-Fidelity Simulators
Yasasa Abeysirigoonawardena, Florian Shkurti, and Gregory Dudek
International Conference on Robotics and Automation (ICRA)
[project]
2018
Synthetically Trained 3D Visual Tracker of Underwater Vehicles
Karim Koreitem, Jimmy Li, Ian Karp, Travis Manderson, Florian Shkurti, and Gregory Dudek
IEEE OCEANS
[pdf]
Model-Based Probabilistic Pursuit via Inverse Reinforcement Learning
Florian Shkurti, Nikhil Kakodkar, and Gregory Dudek
IEEE International Conference on Robotics and Automation (ICRA)
2017
Underwater Multi-Robot Convoying Using Visual Tracking by Detection
Florian Shkurti, Wei Di Chang, Peter Henderson, Md. Jahidul Islam, Juan Camilo Gamboa Higuera, Jimmy Li, Travis Manderson, Anqi Xu, Gregory Dudek, and Junaed Sattar
IEEE International Conference on Intelligent Robots and Systems (IROS)
[pdf]
Topologically distinct trajectory predictions for probabilistic pursuit
Florian Shkurti, and Gregory Dudek
IEEE International Conference on Intelligent Robots and Systems (IROS)
[pdf]
Benchmark Environments for Multitask Learning in Continuous Domains
Peter Henderson, Wei{-}Di Chang, Florian Shkurti, Johanna Hansen, David Meger, and Gregory Dudek
CoRR
[pdf]
2016
Texture-Aware SLAM Using Stereo Imagery And Inertial Information
Travis Manderson, Florian Shkurti, and Gregory Dudek
Conference on Computer and Robot Vision (CRV)
[pdf]
2014
3D Trajectory Synthesis and Control for a Legged Swimming Robot
David Meger, Florian Shkurti, David Cort'{e}s Poza, Philippe Gigu`{e}re, and Gregory Dudek
Proceedings of the IEEE International Conference on Robotics and Intelligent Systems (IROS)
Maximizing Visibility in Collaborative Trajectory Planning
Florian Shkurti, and Gregory Dudek
IEEE International Conference on Robotics and Automation (ICRA)
[pdf]
Ear-based Exploration on Hybrid Metric/Topological Maps
Qiwen Zhang, David Whitney, Florian Shkurti, and Ioannis Rekleitis
IEEE International Conference on Intelligent Robots and Systems (IROS)
[pdf]
Asymmetric Rendezvous Search at Sea
Malika Meghjani, Florian Shkurti, Juan Camilo Gamboa Higuera, Arnold Kalmbach, David Whitney, and Gregory Dudek
Conference on Computer and Robot Vision (CRV)
[pdf]
2013
On the Complexity of Searching for an Evader with a Faster Pursuer
Florian Shkurti, and Gregory Dudek
IEEE International Conference on Robotics and Automation (ICRA)
[pdf]
2012
Multi-Domain Monitoring of Marine Environments Using a Heterogeneous Robot Team
Florian Shkurti, Anqi Xu, Malika Meghjani, Juan Camilo Gamboa Higuera, Yogesh Girdhar, Philippe Giguere, {Bir Bikram} Dey,, Jimmy Li, Arnold Kalmbach, Chris Prahacs, Katrine Turgeon, Ioannis Rekleitis, and Gregory Dudek
IEEE International Conference on Intelligent Robots and Systems (IROS)
Socially-Driven Collective Path Planning for Robot Missions
Juan Camilo Gamboa Higuera, Anqi Xu, Florian Shkurti, and Gregory Dudek
Conference on Computer and Robot Vision (CRV)
[pdf]
2011
State estimation of an underwater robot using visual and inertial information
Florian Shkurti, Ioannis Rekleitis, Milena Scaccia, and Gregory Dudek
IEEE International Conference on Intelligent Robots and Systems (IROS)
[pdf]
MARE: Marine Autonomous Robotic Explorer
Yogesh Girdhar, Anqi Xu, Bir Bikram Dey, Malika Meghjani, Florian Shkurti, Ioannis Rekleitis, and Gregory Dudek
IEEE International Conference on Intelligent Robots and Systems (IROS)
[pdf]
Feature Tracking Evaluation for Pose Estimation in Underwater Environments
Florian Shkurti, Ioannis Rekleitis, and Gregory Dudek
Conference on Computer and Robot Vision
[pdf]