AVPLUG: Approach Vector PLanning for Unicontact Grasping amid Clutter. - Yahav Avigal; Vishal Satish; Zachary Tam; Huang Huang; Harry Zhang; Michael Danielczuk; Jeffrey Ichnowski; Ken Goldberg (CASE, 2021)

Mechanical Search on Shelves using a Novel "Bluction" Tool. - Huang Huang; Michael Danielczuk; Chung Min Kim; Letian Fu; Zachary Tam; Jeffrey Ichnowski; Anelia Angelova; Brian Ichter; Ken Goldberg (ICRA, 2022)

Mechanical Search on Shelves with Efficient Stacking and Destacking of Objects. - Huang Huang; Letian Fu; Michael Danielczuk; Chung Min Kim; Zachary Tam; Jeffrey Ichnowski; Anelia Angelova; Brian Ichter; Ken Goldberg (ISRR, 2022)

BOMP: Bin-Optimized Motion Planning. - Zachary Tam; Karthik Dharmarajan; Tianshuang Qiu; Yahav Avigal; Jeffrey Ichnowski; Ken Goldberg (IROS, 2024)

Precise Object Placement Using Force-Torque Feedback. - Osher Lerner; Zachary Tam; Michael Equi (CoRR, 2024)