publications

For an updated and full list of publications, please check my Google Scholar.

2025

  1. survey.png
    A Survey on Deep Generative Models for Robot Learning from Multimodal Demonstrations
    J. Urain ,  A. Mandlekar ,  Y. Du , and 5 more authors
    TRO, 2025
    arXiv
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    Noise-conditioned Energy-based Annealed Rewards (NEAR): A Generative Framework for Imitation Learning from Observation
    A. Diwan ,  J. Urain ,  J. Kober , and 1 more author
    ICLR, 2025
    arXiv

2024

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    Actionflow: Equivariant, accurate, and efficient policies with spatially symmetric flow matching
    N. Funk ,  J. Urain ,  J. Carvalho , and 3 more authors
    pre-print, 2024
    arXiv
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    PianoMime: Learning a Generalist, Dexterous Piano Player from Internet Demonstrations
    C. Qian ,  J. Urain ,  Zakka K. , and 1 more author
    CORL, 2024
    arXiv

2023

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    SE(3)-DiffusionFields: Learning smooth cost functions for joint grasp and motion optimization through diffusion
    J. Urain ,  N. Funk ,  G. Chalvatzaki , and 1 more author
    ICRA, 2023
    arXiv

2022

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    Learning Stable Vector Fields on Lie Groups
    J. Urain ,  D. Tateo ,  and  J. Peters
    RA-L / ICRA, 2022
    arXiv
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    Learning Implicit Priors for Motion Optimization
    J. Urain ,  A. Lambert ,  A. Thai Lee , and 3 more authors
    IROS, 2022
    arXiv

2021

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    Composable Energy Policies for Reactive Motion Generation and Reinforcement Learning
    J. Urain ,  A. Li ,  P. Liu , and 2 more authors
    R:SS / IJRR, 2021
    arXiv
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    Benchmarking Structured Policies and Policy Optimization for Real-World Dexterous Object Manipulation
    N. Funk ,  C. Schaff ,  R. Madan , and 8 more authors
    RA-L, 2021
    arXiv

2020

  1. iros_2021.gif
    ImitationFlow: Learning Deep Stable Stochastic Dynamic Systems by Normalizing Flows
    J. Urain ,  M. Ginesi ,  D. Tateo , and 1 more author
    IROS, 2020
    arXiv