Structured deep generative models for sampling on constraint manifolds in sequential manipulation. - Joaquim Ortiz de Haro; Jung-Su Ha; Danny Driess; Marc Toussaint (CoRL, 2021)

Learning Efficient Constraint Graph Sampling for Robotic Sequential Manipulation. - Joaquim Ortiz de Haro; Valentin N. Hartmann; Ozgur S. Oguz; Marc Toussaint (ICRA, 2021)

Conflict-Directed Diverse Planning for Logic-Geometric Programming. - Joaquim Ortiz de Haro; Erez Karpas; Marc Toussaint; Michael Katz 001 (ICAPS, 2022)

RHH-LGP: Receding Horizon And Heuristics-Based Logic-Geometric Programming For Task And Motion Planning. - Cornelius V. Braun; Joaquim Ortiz de Haro; Marc Toussaint; Ozgur S. Oguz (IROS, 2022)

db-A*: Discontinuity-bounded Search for Kinodynamic Mobile Robot Motion Planning. - Wolfgang Hönig; Joaquim Ortiz de Haro; Marc Toussaint (IROS, 2022)

BITKOMO: Combining Sampling and Optimization for Fast Convergence in Optimal Motion Planning. - Jay Kamat; Joaquim Ortiz de Haro; Marc Toussaint; Florian T. Pokorny; Andreas Orthey (IROS, 2022)

A Conflict-Driven Interface Between Symbolic Planning and Nonlinear Constraint Solving. - Joaquim Ortiz de Haro; Erez Karpas; Michael Katz 001; Marc Toussaint (IEEE Robotics Autom. Lett., 2022)

Learning Feasibility of Factored Nonlinear Programs in Robotic Manipulation Planning. - Joaquim Ortiz de Haro; Jung-Su Ha; Danny Driess; Erez Karpas; Marc Toussaint (ICRA, 2023)

Efficient Path Planning In Manipulation Planning Problems by Actively Reusing Validation Effort. - Valentin N. Hartmann; Joaquim Ortiz de Haro; Marc Toussaint (IROS, 2023)

Comparison of Optimization-Based Methods for Energy-Optimal Quadrotor Motion Planning. - Welf Rehberg; Joaquim Ortiz de Haro; Marc Toussaint; Wolfgang Hönig (CoRR, 2023)

Neural Field Representations of Articulated Objects for Robotic Manipulation Planning. - Phillip Grote; Joaquim Ortiz de Haro; Marc Toussaint; Ozgur S. Oguz (CoRR, 2023)

Solving Sequential Manipulation Puzzles by Finding Easier Subproblems. - Svetlana Levit; Joaquim Ortiz de Haro; Marc Toussaint (ICRA, 2024)

db-CBS: Discontinuity-Bounded Conflict-Based Search for Multi-Robot Kinodynamic Motion Planning. - Akmaral Moldagalieva; Joaquim Ortiz de Haro; Marc Toussaint; Wolfgang Hönig (ICRA, 2024)

Effort Level Search in Infinite Completion Trees with Application to Task-and-Motion Planning. - Marc Toussaint; Joaquim Ortiz de Haro; Valentin N. Hartmann; Erez Karpas; Wolfgang Hönig (ICRA, 2024)

iDb-RRT: Sampling-based Kinodynamic Motion Planning with Motion Primitives and Trajectory Optimization. - Joaquim Ortiz de Haro; Wolfgang Hönig; Valentin N. Hartmann; Marc Toussaint; Ludovic Righetti (IROS, 2024)

Kinodynamic Motion Planning for a Team of Multirotors Transporting a Cable-Suspended Payload in Cluttered Environments. - Khaled Wahba; Joaquim Ortiz de Haro; Marc Toussaint; Wolfgang Hönig (IROS, 2024)

Factored Task and Motion Planning with Combined Optimization, Sampling and Learning. - Joaquim Ortiz de Haro (CoRR, 2024)

NLP Sampling: Combining MCMC and NLP Methods for Diverse Constrained Sampling. - Marc Toussaint; Cornelius V. Braun; Joaquim Ortiz de Haro (CoRR, 2024)

iDb-A*: Iterative Search and Optimization for Optimal Kinodynamic Motion Planning. - Joaquim Ortiz de Haro; Wolfgang Hönig; Valentin N. Hartmann; Marc Toussaint (IEEE Trans. Robotics, 2025)

Infinite-Horizon Value Function Approximation for Model Predictive Control. - Armand Jordana; Sébastien Kleff; Arthur Haffemayer; Joaquim Ortiz de Haro; Justin Carpentier; Nicolas Mansard; Ludovic Righetti (IEEE Robotics Autom. Lett., 2025)