cuRoboV2: Dynamics-Aware Motion Generation with Depth-Fused Distance Fields for High-DoF Robots
arXiv
arXiv
|
|
My research focuses on building the intelligence for manipulation robots to operate autonomously. As a Staff Research Scientist at NVIDIA, I lead the development of modular Gen AI frameworks for manipulation, such as synthetic data, trajectory and grasp generation. For my work on being the first to deploy deep-learning policies on home robots and scaling robot learning in simulation, I was featured on the MIT TR35 Innovators 2025 List. My work has been frequently reported in the popular media e.g. TechCrunch, The New York Times, WIRED, The Robot Report. Before NVIDIA, I received my PhD from CMU Robotics Institute and my BS in EECS from UC Berkeley.
News
[10/2025] Awarded MIT Technology Review Innovators Under 35 Asia Pacific 2025
[09/2025] Serving as CoRL 2025 Sponsorships chair. See you in Seoul!
[07/2025] We just opensourced GraspGen, our framework for diffusion-based grasp generation!
[06/2025] Invited talk at CVPR 2025 2nd Point Cloud Tutorial
[03/2025] GraspGen integrated into Intrinsic Flowstate
[03/2025] Invited talks at Wadhwani School of Data Science and AI, IIT-Madras (India) and NUS (Singapore)
[05/2024] Released results on smart pick and place with NVIDIA Isaac Manipulator. 55+ media articles. Invited talk at Automate 2024 hosted by Intrinsic.ai
Selected Projects
GraspGen: A Diffusion-Based Framework for 6-DoF Grasping with On-Generator Training
ICRA 2026 | arXiv / project page / video / code / MarkTechPost / Intrinsic Blog / dataset
ICRA 2026 | arXiv / project page / video / code / MarkTechPost / Intrinsic Blog / dataset
scene_synthesizer: A Python Library for Procedural Scene Generation in Robot Manipulation
Journal of Open Source Software 2025 | paper / documentation / code
Journal of Open Source Software 2025 | paper / documentation / code
DiffusionSeeder: Seeding Motion Optimization with Diffusion for Rapid Motion Planning
CoRL 2024 | arXiv
CoRL 2024 | arXiv
RoboPoint: A Vision-Language Model for Spatial Affordance Prediction for Robotics
CoRL 2024 | arXiv / project page / code / dataset
CoRL 2024 | arXiv / project page / code / dataset
Automating Smart Pick-and-Place with NVIDIA Isaac Manipulator
NVIDIA Developer Blog / NVIDIA Corp Blog / The Robot Report / TechCrunch / video
NVIDIA Developer Blog / NVIDIA Corp Blog / The Robot Report / TechCrunch / video
CabiNet: Scaling Neural Collision Detection for Object Rearrangement with Procedural Scene Generation
ICRA 2023 , NeurIPS FM for Decision Making Workshop | project page / arXiv / video / talk / code
ICRA 2023 , NeurIPS FM for Decision Making Workshop | project page / arXiv / video / talk / code
Motion Policy Networks
CoRL 2022 | project page / arXiv / video / code / data / NVIDIA Developer blog
CoRL 2022 | project page / arXiv / video / code / data / NVIDIA Developer blog
Same Object, Different Grasps: Data and Semantic Knowledge for Task-Oriented Grasping
CoRL 2020 | arXiv / video / talk / code & data / project page
CoRL 2020 | arXiv / video / talk / code & data / project page
6-DOF Grasping for Target-driven Object Manipulation in Clutter
ICRA 2020 | arXiv / video / talk / NVIDIA Blog
Best Robot Manipulation Paper Finalist, Best Student Paper Finalist
ICRA 2020 | arXiv / video / talk / NVIDIA Blog
Best Robot Manipulation Paper Finalist, Best Student Paper Finalist
PyRobot: An Open-source Robotics Framework for Research and Benchmarking
arXiv / pyrobot.org / code / FAIR Blog / WIRED / VentureBeat / The Robot Report
arXiv / pyrobot.org / code / FAIR Blog / WIRED / VentureBeat / The Robot Report
Hardware Conditioned Policies for Multi-Robot Transfer Learning
NeurIPS 2018 | arXiv / project page / video / code
NeurIPS 2018 | arXiv / project page / video / code
Robot Learning in Homes: Improving Generalization and Reducing Dataset Bias
NeurIPS 2018 | arXiv / data / code / WIRED article
NeurIPS 2018 | arXiv / data / code / WIRED article
Learning by Observation for Surgical Subtasks: Multilateral Cutting of 3D Viscoelastic and 2D Orthotropic Tissue Phantoms
ICRA 2015 | video / New York Times / MedGadget / CBS News
Best Medical Robotics Paper Finalist, Best Conference Paper Finalist
ICRA 2015 | video / New York Times / MedGadget / CBS News
Best Medical Robotics Paper Finalist, Best Conference Paper Finalist
A Single-Use Haptic Palpation Probe for Locating Subcutaneous Blood Vessels in Robot-Assisted Minimally Invasive Surgery
CASE 2015 | paper Best Paper, ICRA Medical Robotics Workshop 2015
CASE 2015 | paper Best Paper, ICRA Medical Robotics Workshop 2015
A Morphological Study on Direct Polymer Cast Micro-textured Hydrophobic Surfaces
Surface and Coatings Technology 2011 | The Straits Times
Surface and Coatings Technology 2011 | The Straits Times
Press Coverage
