publications

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

2023

  1. se3dif.gif
    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

  1. msvf_2022.gif
    Learning Stable Vector Fields on Lie Groups
    J. Urain ,  D. Tateo ,  and  J. Peters
    RA-L / ICRA, 2022
    arXiv
  2. iros_2022.gif
    Learning Implicit Priors for Motion Optimization
    J. Urain ,  A. Lambert ,  A. Thai Lee , and 3 more authors
    IROS, 2022
    arXiv

2021

  1. rss_2021.gif
    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
  2. ral_2021.gif
    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