Rapid Convex Optimization of Centroidal Dynamics using Block Coordinate Descent. - Paarth Shah; Avadesh Meduri; Wolfgang Merkt; Majid Khadiv; Ioannis Havoutis; Ludovic Righetti (IROS, 2021)

Differentiable and Learnable Robot Models. - Franziska Meier; Austin S. Wang; Giovanni Sutanto; Yixin Lin; Paarth Shah (CoRR, 2022)

Visual-Inertial and Leg Odometry Fusion for Dynamic Locomotion. - Victor Dhédin; Haolong Li; Shahram Khorshidi; Lukas Mack; Adithya Kumar Chinnakkonda Ravi; Avadesh Meduri; Paarth Shah; Felix Grimminger; Ludovic Righetti; Majid Khadiv; Joerg Stueckler (ICRA, 2023)

Proximity and Visuotactile Point Cloud Fusion for Contact Patches in Extreme Deformation. - Jessica Yin; Paarth Shah; Naveen Kuppuswamy; Andrew Beaulieu; Avinash Uttamchandani; Alejandro M. Castro; James H. Pikul; Russ Tedrake (CoRR, 2023)

BiConMP: A Nonlinear Model Predictive Control Framework for Whole Body Motion Planning. - Avadesh Meduri; Paarth Shah; Julian Viereck; Majid Khadiv; Ioannis Havoutis; Ludovic Righetti (IEEE Trans. Robotics, 2023)

Robot Learning as an Empirical Science: Best Practices for Policy Evaluation. - Hadas Kress-Gazit; Kunimatsu Hashimoto; Naveen Kuppuswamy; Paarth Shah; Phoebe Horgan; Gordon Richardson; Siyuan Feng 003; Benjamin Burchfiel (CoRR, 2024)

How Generalizable is My Behavior Cloning Policy? A Statistical Approach to Trustworthy Performance Evaluation. - Joseph A. Vincent; Haruki Nishimura; Masha Itkina; Paarth Shah; Mac Schwager; Thomas Kollar (IEEE Robotics Autom. Lett., 2024)

Can We Detect Failures Without Failure Data? Uncertainty-Aware Runtime Failure Detection for Imitation Learning Policies. - Chen Xu; Tony Khuong Nguyen; Emma Dixon; Christopher Rodriguez; Patrick Tree Miller; Robert Lee; Paarth Shah; Rares Ambrus; Haruki Nishimura; Masha Itkina (CoRR, 2025)

Unified World Models: Coupling Video and Action Diffusion for Pretraining on Large Robotic Datasets. - Chuning Zhu; Raymond Yu; Siyuan Feng 003; Benjamin Burchfiel; Paarth Shah; Abhishek Gupta 004 (CoRR, 2025)

CodeDiffuser: Attention-Enhanced Diffusion Policy via VLM-Generated Code for Instruction Ambiguity. - Guang Yin; Yitong Li; Yixuan Wang; Dale McConachie; Paarth Shah; Kunimatsu Hashimoto; Huan Zhang; Katherine Liu; Yunzhu Li (CoRR, 2025)

A Careful Examination of Large Behavior Models for Multitask Dexterous Manipulation. - TRI LBM Team; Jose A. Barreiros; Andrew Beaulieu; Aditya Bhat; Rick Cory; Eric Cousineau; Hongkai Dai; Ching-Hsin Fang; Kunimatsu Hashimoto; Muhammad Zubair Irshad; Masha Itkina; Naveen Kuppuswamy; et al. (CoRR, 2025)

Video Generators are Robot Policies. - Junbang Liang; Pavel Tokmakov; Ruoshi Liu; Sruthi Sudhakar; Paarth Shah; Rares Ambrus; Carl Vondrick (CoRR, 2025)