Inferring gaze shifts from captured body motion. - Daniel Rakita; Tomislav Pejsa; Bilge Mutlu; Michael Gleicher (SIGGRAPH Posters, 2015)

Evaluating intent-expressive robot arm motion. - Christopher Bodden; Daniel Rakita; Bilge Mutlu; Michael Gleicher (RO-MAN, 2016)

Motion synopsis for robot arm trajectories. - Daniel Rakita; Bilge Mutlu; Michael Gleicher (RO-MAN, 2016)

Authoring directed gaze for full-body motion capture. - Tomislav Pejsa; Daniel Rakita; Bilge Mutlu; Michael Gleicher (ACM Trans. Graph., 2016)

Methods for Effective Mimicry-based Teleoperation of Robot Arms. - Daniel Rakita (HRI (Companion), 2017)

A Motion Retargeting Method for Effective Mimicry-based Teleoperation of Robot Arms. - Daniel Rakita; Bilge Mutlu; Michael Gleicher (HRI, 2017)

Recognizing actions during tactile manipulations through force sensing. - Guru Subramani; Daniel Rakita; Hongyi Wang 001; Jordan Black; Michael R. Zinn; Michael Gleicher (IROS, 2017)

Understanding human-robot interaction in virtual reality. - Oliver Liu; Daniel Rakita; Bilge Mutlu; Michael Gleicher (RO-MAN, 2017)

An Autonomous Dynamic Camera Method for Effective Remote Teleoperation. - Daniel Rakita; Bilge Mutlu; Michael Gleicher (HRI, 2018)

Shared Dynamic Curves: A Shared-Control Telemanipulation Method for Motor Task Training. - Daniel Rakita; Bilge Mutlu; Michael Gleicher; Laura M. Hiatt (HRI, 2018)

RelaxedIK: Real-time Synthesis of Accurate and Feasible Robot Arm Motion. - Daniel Rakita; Bilge Mutlu; Michael Gleicher (Robotics: Science and Systems, 2018)

A flexible optimization-based method for synthesizing intent-expressive robot arm motion. - Christopher Bodden; Daniel Rakita; Bilge Mutlu; Michael Gleicher (Int. J. Robotics Res., 2018)

User-Guided Offline Synthesis of Robot Arm Motion from 6-DoF Paths. - Pragathi Praveena; Daniel Rakita; Bilge Mutlu; Michael Gleicher (ICRA, 2019)

STAMPEDE: A Discrete-Optimization Method for Solving Pathwise-Inverse Kinematics. - Daniel Rakita; Bilge Mutlu; Michael Gleicher (ICRA, 2019)

Remote Telemanipulation with Adapting Viewpoints in Visually Complex Environments. - Daniel Rakita; Bilge Mutlu; Michael Gleicher (Robotics: Science and Systems, 2019)

Shared control-based bimanual robot manipulation. - Daniel Rakita; Bilge Mutlu; Michael Gleicher; Laura M. Hiatt (Sci. Robotics, 2019)

Supporting Perception of Weight through Motion-induced Sensory Conflicts in Robot Teleoperation. - Pragathi Praveena; Daniel Rakita; Bilge Mutlu; Michael Gleicher (HRI, 2020)

Effects of Onset Latency and Robot Speed Delays on Mimicry-Control Teleoperation. - Daniel Rakita; Bilge Mutlu; Michael Gleicher (HRI, 2020)

An analysis of RelaxedIK: an optimization-based framework for generating accurate and feasible robot arm motions. - Daniel Rakita; Bilge Mutlu; Michael Gleicher (Auton. Robots, 2020)

Strobe: An Acceleration Meta-algorithm for Optimizing Robot Paths using Concurrent Interleaved Sub-Epoch Pods. - Daniel Rakita; Bilge Mutlu; Michael Gleicher (ICRA, 2021)

CollisionIK: A Per-Instant Pose Optimization Method for Generating Robot Motions with Environment Collision Avoidance. - Daniel Rakita; Haochen Shi; Bilge Mutlu; Michael Gleicher (ICRA, 2021)

Single-query Path Planning Using Sample-Efficient Probability Informed Trees. - Daniel Rakita; Bilge Mutlu; Michael Gleicher (IEEE Robotics Autom. Lett., 2021)

Proxima: An Approach for Time or Accuracy Budgeted Collision Proximity Queries. - Daniel Rakita; Bilge Mutlu; Michael Gleicher (Robotics: Science and Systems, 2022)

MotionBenchMaker: A Tool to Generate and Benchmark Motion Planning Datasets. - Constantinos Chamzas; Carlos Quintero-Peña; Zachary Kingston; Andreas Orthey; Daniel Rakita; Michael Gleicher; Marc Toussaint; Lydia E. Kavraki (IEEE Robotics Autom. Lett., 2022)

Lively: Enabling Multimodal, Lifelike, and Extensible Real-time Robot Motion. - Andrew J. Schoen; Dakota Sullivan; Ze Dong Zhang; Daniel Rakita; Bilge Mutlu (HRI, 2023)

An Analysis of Unified Manipulation with Robot Arms and Dexterous Hands via Optimization-based Motion Synthesis. - Vatsal V. Patel; Daniel Rakita; Aaron M. Dollar (ICRA, 2023)

RangedIK: An Optimization-based Robot Motion Generation Method for Ranged-Goal Tasks. - Yeping Wang; Pragathi Praveena; Daniel Rakita; Michael Gleicher (ICRA, 2023)

Sequential Discrete Action Selection via Blocking Conditions and Resolutions. - Liam Merz Hoffmeister; Brian Scassellati; Daniel Rakita (IROS, 2024)

A Comparative Study on State-Action Spaces for Learning Viewpoint Selection and Manipulation with Diffusion Policy. - Xiatao Sun; Francis Fan; Yinxing Chen; Daniel Rakita (CoRR, 2024)

Dynamic Rank Adjustment in Diffusion Policies for Efficient and Flexible Training. - Xiatao Sun; Shuo Yang; Yinxing Chen; Francis Fan; Yiyan Liang; Daniel Rakita (CoRR, 2025)

ad-trait: A Fast and Flexible Automatic Differentiation Library in Rust. - Chen Liang; Qian Wang; Andy Xu; Daniel Rakita (CoRR, 2025)

Coherence-based Approximate Derivatives via Web of Affine Spaces Optimization. - Daniel Rakita; Chen Liang; Qian Wang (CoRR, 2025)

PRISM-DP: Spatial Pose-based Observations for Diffusion-Policies via Segmentation, Mesh Generation, and Pose Tracking. - Xiatao Sun; Yinxing Chen; Daniel Rakita (CoRR, 2025)

Hybrid Diffusion Policies with Projective Geometric Algebra for Efficient Robot Manipulation Learning. - Xiatao Sun; Yuxuan Wang; Shuo Yang; Yinxing Chen; Daniel Rakita (CoRR, 2025)