TSBP: Tangent Space Belief Propagation for Manifold Learning. - Thomas Cohn; Odest Chadwicke Jenkins; Karthik Desingh; Zhen Zeng (IEEE Robotics Autom. Lett., 2020)

Topologically-Informed Atlas Learning. - Thomas Cohn; Nikhil Devraj; Odest Chadwicke Jenkins (ICRA, 2022)

Non-Euclidean Motion Planning with Graphs of Geodesically-Convex Sets. - Thomas Cohn; Mark Petersen; Max Simchowitz; Russ Tedrake (Robotics: Science and Systems, 2023)

Constrained Bimanual Planning with Analytic Inverse Kinematics. - Thomas Cohn; Seiji Shaw; Max Simchowitz; Russ Tedrake (ICRA, 2024)

Faster Algorithms for Growing Collision-Free Convex Polytopes in Robot Configuration Space. - Peter Werner; Thomas Cohn; Rebecca H. Jiang; Tim Seyde; Max Simchowitz; Russ Tedrake; Daniela Rus (CoRR, 2024)

Sampling-Based Motion Planning with Discrete Configuration-Space Symmetries. - Thomas Cohn; Russ Tedrake (CoRR, 2025)

Planning Shorter Paths in Graphs of Convex Sets by Undistorting Parametrized Configuration Spaces. - Shruti Garg; Thomas Cohn; Russ Tedrake (IEEE Robotics Autom. Lett., 2025)