Publications · Symbiotic Computing Initiative

Interpretable Collision Avoidance and Feasibility Guarantees through an Uncertainty Aware Pipeline Dawei Xu, Jae Hyun Park, Gabriel A. Fernandez, Aneesh Prasad, Mark Campbell IROS · 2026 PlanningTrust and safety

Model-Preserving Adaptive Rounding Albert Tseng, Zhaofeng Sun, Christopher De Sa ICML · 2026 Robot OS and runtime

Flat-Pack Bench: Evaluating Spatio-Temporal Understanding in Large Vision-Language Models through Furniture Assembly Aditya Chetan, Eric Cai, Peeyush Kushwaha, Bharath Raj Nagoor Kani, Utkarsh Mall, Qianqian Wang, Noah Snavely, Bharath Hariharan CVPR · 2026 PerceptionEvaluation and benchmarks

Two-Layer Linear Auto-Regressive Models Estimate Latent States Yahya Sattar, Sunmook Choi, Leo Maynard-Zhang, Yassir Jedra, Maryam Fazel, Sarah Dean arXiv · 2026 Control

Search Your Block Floating Point Scales! Tanmaey Gupta, Hayden Prairie, Shirley Wu, Reyna Abhyankar, Qingyang Wu, Austin Silveria, Pragaash Ponnusamy, Jue Wang, Ben Athiwaratkun, Leon Song, Tri Dao, Daniel Y. Fu, Christopher De Sa MLSys · 2026 Robot OS and runtime

A Human-in-the-loop Confidence-Aware Failure Recovery Framework for Modular Robot Policies Rohan Banerjee, Krishna Palempalli, Bohan Yang, Jiaying Fang, Alif Abdullah, Tom Silver, Sarah Dean, Tapomayukh Bhattacharjee HRI · 2026 ControlTrust and safety

TACTIC: Tactile and Vision Conditioned Contact-Centric Control for Whole-Arm Manipulation Rishabh Madan, Angchen Xie, Samantha Saak, Andres Blanco, Dohyeok Lee, Sarah Grace Brown, Yunting Yan, Mark Zolotas, Jose Barreiros, Tapomayukh Bhattacharjee RSS · 2026 SensingControl

Beyond Prediction: Tail-Aware Scheduling for LLM Inference Yueying Li, Yuanfan Chen, Jiayang Chen, Esha Choukse, Haoran Qiu, G. Edward Suh, Rodrigo Fonseca, Ziv Scully, Udit Gupta ICML · 2026 Robot OS and runtime

Tracking and Understanding Object Transformations Yihong Sun, Xinyu Yang, Jennifer J. Sun, Bharath Hariharan NeurIPS · 2025 Perception

AI Agents vs. Agentic AI: A Conceptual Taxonomy, Applications and Challenges Ranjan Sapkota, Konstantinos I. Roumeliotis, Manoj Karkee Information Fusion · 2025 Planning

Semantic and Feature Guided Uncertainty Quantification of Visual Localization for Autonomous Vehicles Qiaojun Wu, Mark Campbell ICRA · 2025 PerceptionTrust and safety

FEAST: A Flexible Mealtime-Assistance System Towards In-the-Wild Personalization Rajat Kumar Jenamani, Tom Silver, Ben Dodson, Shiqin Tong, Anthony Song, Yuting Yang, Ziang Liu, Benjamin Howe, Aimee Whitneck, Tapomayukh Bhattacharjee RSS · 2025 ApplicationsPlanning

To Ask or Not To Ask: Human-in-the-Loop Contextual Bandits with Applications in Robot-Assisted Feeding Rohan Banerjee, Rajat Kumar Jenamani, Sidharth Vasudev, Amal Nanavati, Katherine Dimitropoulou, Sarah Dean, Tapomayukh Bhattacharjee ICRA · 2025 PlanningTrust and safety

Hermes: Algorithm-System Co-design for Efficient Retrieval-Augmented Generation At-Scale Michael Shen, Muhammad Umar, Kiwan Maeng, G. Edward Suh, Udit Gupta ISCA · 2025 Robot OS and runtime

FlashDLM: Accelerating Diffusion Language Model Inference via Efficient KV Caching and Guided Diffusion Zhanqiu Hu, Jian Meng, Yash Akhauri, Mohamed S. Abdelfattah, Jae-sun Seo, Zhiru Zhang, Udit Gupta arXiv · 2025 Robot OS and runtime

Feel the Bite: Robot-Assisted Inside-Mouth Bite Transfer Using Robust Mouth Perception and Physical Interaction-Aware Control Rajat Kumar Jenamani, Daniel Stabile, Ziang Liu, Abrar Anwar, Katherine Dimitropoulou, Tapomayukh Bhattacharjee HRI · 2024 PerceptionControlApplications

QuIP: 2-Bit Quantization of Large Language Models With Guarantees Jerry Chee, Yaohui Cai, Volodymyr Kuleshov, Christopher De Sa NeurIPS · 2023 Robot OS and runtime

Ithaca365: Dataset and Driving Perception under Repeated and Challenging Weather Conditions Carlos A. Diaz-Ruiz, Youya Xia, Yurong You, Jose Nino, Junan Chen, Josephine Monica, Xiangyu Chen, Katie Luo, Yan Wang, Marc Emond, Wei-Lun Chao, Bharath Hariharan, Kilian Q. Weinberger, Mark Campbell CVPR · 2022 DataPerceptionEvaluation and benchmarks

RCareWorld: A Human-Centric Simulation World for Caregiving Robots Ruolin Ye, Wenqiang Xu, Haoyuan Fu, Rajat Kumar Jenamani, Vy Nguyen, Cewu Lu, Katherine Dimitropoulou, Tapomayukh Bhattacharjee IROS · 2022 Evaluation and benchmarksData

Faster R–CNN–based Apple Detection in Dense-Foliage Fruiting-Wall Trees Using RGB and Depth Features for Robotic Harvesting Longsheng Fu, Yaqoob Majeed, Xin Zhang, Manoj Karkee, Qin Zhang Biosystems Engineering · 2020 PerceptionApplications

Design, Integration, and Field Evaluation of a Robotic Apple Harvester Abhisesh Silwal, Joseph R. Davidson, Manoj Karkee, Changki Mo, Qin Zhang, Karen Lewis Journal of Field Robotics · 2017 ApplicationsControl

Team Cornell's Skynet: Robust Perception and Planning in an Urban Environment Isaac Miller, Mark Campbell, et al. Journal of Field Robotics · 2008 ApplicationsPlanningPerception