Publications
Papers from the Momentum Lab since 2023, when Jeffrey Ichnowski joined Carnegie Mellon University's Robotics Institute.
This listing is a snapshot and may lag behind new preprints. For the most recent papers, check Jeffrey Ichnowski's Google Scholar .
2026
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High Fidelity Capture, Reconstruction, and Transfer of Human Demonstrations for Robot-Assisted Bathing
AS Lakshmipathy, JP King, E Zuo, R Satishkumar, H Chen, J Ichnowski, ...
RSS 2026
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SemAnCorr: Semantic Anchored Correspondence for Zero-Shot Manipulation Skill Transfer
X Dong, W Baron, H Chen, U Yoo, J Ichnowski, W Zhi
arXiv:2607.28382
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FAR: Failure-Aware Retry for Test-Time Recovery and Continual Policy Improvement
H Hao, SN Syed, J Ichnowski, J Schneider
arXiv:2607.01111
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VibeAct: Vibration to Actions for Contact-Rich Reactive Robot Dexterity
Y Mao, U Yoo, J Oh, J Francis, J Ichnowski
arXiv:2606.27344
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Modality Forcing for Scalable Spatial Generation
BP Duisterhof, D Ramanan, J Ichnowski, J Johnson, K Park
arXiv:2606.13676
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Intercepting the Future: Latent-Space Predictive World Model for Dynamic VLA Manipulation
SN Syed, A Jakobsson, H Hao, J Ichnowski
arXiv:2606.02486
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Wiggle and Go! System Identification for Zero-Shot Dynamic Rope Manipulation
A Jakobsson, A Mahajan, K Pullalarevu, K Suresh, Y Yao, Y Mao, ...
arXiv:2604.22102
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A-SLIP: Acoustic Sensing for Continuous In-hand Slip Estimation
U Yoo, Y Mao, J Oh, J Ichnowski
arXiv:2604.08528
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Functional Force-Aware Retargeting from Virtual Human Demos to Soft Robot Policies
U Yoo, M Zhu, E Pezent, J Preechayasomboon, J Oh, J Ichnowski, ...
arXiv:2604.01224
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SOFTMAP: Sim2Real Soft Robot Forward Modeling via Topological Mesh Alignment and Physics Prior
Z Ma, U Yoo, J Francis, W Zhi, J Ichnowski, J Oh
arXiv:2603.19384
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3PoinTr: 3D Point Tracks for Learning Manipulation from Unconstrained Human Videos
A Hung, BP Duisterhof, J Ichnowski
arXiv:2603.08485
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Dexterous manipulation policies from rgb human videos via 3d hand-object trajectory reconstruction
H Chen, T Dong, T Wu, L Wang, Y Jangir, Y Niu, Y Ye, H Bharadhwaj, ...
arXiv:2602.09013
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DYMO-Hair: Generalizable Volumetric Dynamics Modeling for Robot Hair Manipulation
C Zhao, U Yoo, AN Chaudhury, G Nam, J Francis, J Ichnowski, J Oh
ICRA 2026
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Web2Grasp: Learning Functional Grasp with Reconstructed HOI from Web Images
H Chen, Y Yao, Y Ye, Z Xu, H Bharadhwaj, J Wang, A Jakobsson, R Zhao, ...
IROS 2026
2025
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Adversarial Game-Theoretic Algorithm for Dexterous Grasp Synthesis
Y Chen, B He, Y Mao, A Jakobsson, J Ke, Y Aloimonos, G Shi, H Choset, ...
arXiv:2511.05809
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Visuo-Acoustic Hand Pose and Contact Estimation
Y Mao, U Yoo, Y Yao, SN Syed, L Bondi, J Francis, J Oh, J Ichnowski
arXiv:2508.00852
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KineSoft: Learning Proprioceptive Manipulation Policies with Soft Robot Hands
U Yoo, J Francis, J Oh, J Ichnowski
CoRL 2025
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Hearing the slide: Acoustic-guided constraint learning for fast non-prehensile transport
Y Mao, BP Duisterhof, M Lee, J Ichnowski
CASE 2025
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ORB: Operating Room Bot, Automating Operating Room Logistics through Mobile Manipulation
J Qiu, Y Kim, G Sethia, T Agarwal, S Ghodasara, Z Erickson, J Ichnowski
CASE 2025
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Rayst3r: Predicting novel depth maps for zero-shot object completion
B Duisterhof, J Oberst, B Wen, S Birchfield, D Ramanan, J Ichnowski
NeurIPS 2025
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Robot Failure Recovery Using Vision-Language Models With Optimized Prompts
H Chen, Y Yao, R Liu, C Liu, J Ichnowski
ACC 2025
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Soft and Compliant Contact-Rich Hair Manipulation and Care
U Yoo, N Dennler, E Xing, M Matarić, S Nikolaidis, J Ichnowski, J Oh
HRI 2025
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Soft robotic dynamic in-hand pen spinning
Y Yao, U Yoo, J Oh, CG Atkeson, J Ichnowski
ICRA 2025
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SoftBiT: Soft Bimanual Teleoperation with Proprioceptive Visual Augmentation
T Inui, U Yoo, J Ichnowski, J Oh
HRI 2025 Workshop
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Sonicboom: contact localization using array of microphones
M Lee, U Yoo, J Oh, J Ichnowski, G Kantor, O Kroemer
IEEE RA-L 2025
2024
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Cloth-splatting: 3d cloth state estimation from rgb supervision
A Longhini, M Büsching, BP Duisterhof, J Lundell, J Ichnowski, ...
CoRL 2024
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KOROL: Learning Visualizable Object Feature with Koopman Operator Rollout for Manipulation
H Chen, A Abuduweili, A Agrawal, Y Han, H Ravichandar, C Liu, ...
CoRL 2024
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Self-supervised learning of dynamic planar manipulation of free-end cables
J Wang, H Huang, V Lim, H Zhang, J Ichnowski, D Seita, Y Chen, ...
arXiv:2405.09581
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BOMP: Bin-Optimized Motion Planning
Z Tam, K Dharmarajan, T Qiu, Y Avigal, J Ichnowski, K Goldberg
IROS 2024
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Clear-Splatting: Learning Residual Gaussian Splats for Transparent Object Manipulation
A Agrawal, R Roy, BP Duisterhof, KB Hekkadka, H Chen, J Ichnowski
ICRA 2024 Workshop
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DeformGS: Scene Flow in Highly Deformable Scenes for Deformable Object Manipulation
BP Duisterhof, M Zhao, Y Yao, JW Liu, J Seidenschwarz, MZ Shou, ...
WAFR 2024
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Distilling Semantic Features for 3D Cloth Representations from Vision Foundation Models
A Longhini, M Büsching, BP Duisterhof, J Ichnowski, M Björkman, ...
ICRA 2024 Workshop
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FogROS2-Config: Optimizing Latency and Cost for Multi-Cloud Robot Applications
K Chen, K Hari, R Khare, C Le, T Chung, J Drake, J Ichnowski, ...
ICRA 2024
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Fogros2-ft: Fault tolerant cloud robotics
K Chen, K Hari, T Chung, M Wang, N Tian, C Juette, J Ichnowski, L Ren, ...
IROS 2024
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FogROS2-LS: A location-independent fog robotics framework for latency sensitive ROS2 applications
K Chen, M Wang, M Gualtieri, N Tian, C Juette, L Ren, J Ichnowski, ...
ICRA 2024
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Inclusion in Assistive Haircare Robotics: Practical and Ethical Considerations in Hair Manipulation
U Yoo, N Dennler, S Patil, J Oh, J Ichnowski
HRI 2024 Workshop
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Poe: Acoustic soft robotic proprioception for omnidirectional end-effectors
U Yoo, Z Lopez, J Ichnowski, J Oh
ICRA 2024
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Residual-nerf: Learning residual nerfs for transparent object manipulation
BP Duisterhof, Y Mao, SH Teng, J Ichnowski
ICRA 2024
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Ropotter: Toward robotic pottery and deformable object manipulation with structural priors. In 2024 IEEE-RAS 23rd International Conference on Humanoid Robots (Humanoids)
U Yoo, A Hung, J Francis, J Oh, J Ichnowski
Humanoids 2024
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The Teenager’s Problem: Efficient Garment Decluttering as Probabilistic Set Cover
A Adler, A Ahmad, Y Qiu, S Wang, WC Agboh, E Llontop, T Qiu, ...
WAFR 2024
2023
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Learning to trace and untangle semiplanar knots (tusk)
V Viswanath, K Shivakumar, J Ajmera, M Parulekar, J Kerr, J Ichnowski, ...
arXiv:2303.08975
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Learning self-supervised representations from vision and touch for active sliding perception of deformable surfaces
J Kerr, H Huang, A Wilcox, R Hoque, J Ichnowski, R Calandra, ...
RSS 2023
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Fogros2-sgc: A ros2 cloud robotics platform for secure global connectivity
K Chen, R Hoque, K Dharmarajan, E LLontopl, S Adebola, J Ichnowski, ...
IROS 2023
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Fogros2: An adaptive platform for cloud and fog robotics using ros 2
J Ichnowski, K Chen, K Dharmarajan, S Adebola, M Danielczuk, ...
ICRA 2023
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Handloom: Learned tracing of one-dimensional objects for inspection and manipulation
V Viswanath, K Shivakumar, M Parulekar, J Ajmera, J Kerr, J Ichnowski, ...
CoRL 2023
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Learning to efficiently plan robust frictional multi-object grasps
WC Agboh, S Sharma, K Srinivas, M Parulekar, G Datta, T Qiu, ...
IROS 2023