CoCuRo Lab Computational Methods for Curious Robots Lab

Publications

2026

Time-Optimal Ergodic Retrieval
Time-Optimal Ergodic Retrieval
Christian Sulana, Christian Hughes, Ian Abraham
arXiv   ·   15 Oct 2026   ·   doi:10.48550/arxiv.2610.21823
EmbodiedSWE: Coding Agents for Long Horizon Dexterous Robotics
EmbodiedSWE: Coding Agents for Long Horizon Dexterous Robotics
Zeyu Shen, Haoxiang You, Yilang Liu, Zhicheng Zheng, Lihan Zha, ..., Dhruv Shah, Mac Schwager, Peter Henderson, Ian Abraham, Canwen Xu
arXiv   ·   23 Sep 2026   ·   doi:10.48550/arxiv.2609.27308
Accelerating Visual Policy Learning with Sampling-Based Model Predictive Control
Accelerating Visual Policy Learning with Sampling-Based Model Predictive Control
Yilang Liu, Haoxiang You, Qian Wang, Daniel Rakita, Ian Abraham
arXiv   ·   17 Sep 2026   ·   doi:10.48550/arxiv.2609.20575
Distributionally Robust Control via Stein Variational Inference for Contact-rich Manipulation
Distributionally Robust Control via Stein Variational Inference for Contact-rich Manipulation
Hrishikesh Sathyanarayan, Victor Vantilborgh, Harish Ravichandar, Tom Lefebvre, Ian Abraham
Robotics: Science and Systems XXII   ·   13 Jul 2026   ·   doi:10.15607/rss.2026.xxii.061
Preprint
Asymptotically Optimal Ergodic Coverage on Generalized Motion Fields
Asymptotically Optimal Ergodic Coverage on Generalized Motion Fields
Christian Hughes, Yilang Liu, Yanis Lahrach, Julia Engdahl, Houston Warren, Darrick Lee, Fabio Ramos, Travis Miles, Ian Abraham
Robotics: Science and Systems XXII   ·   13 Jul 2026   ·   doi:10.15607/rss.2026.xxii.136
Preprint
Search at Scale: Improving Numerical Conditioning of Ergodic Coverage Optimization for Multi-Scale Domains
Search at Scale: Improving Numerical Conditioning of Ergodic Coverage Optimization for Multi-Scale Domains
Yanis Lahrach, Christian Hughes, Ian Abraham
2026 IEEE International Conference on Robotics and Automation (ICRA)   ·   01 Jun 2026   ·   doi:10.1109/icra57385.2026.11697230
Preprint
Sample-Based Hybrid Mode Control: Asymptotically Optimal Switching of Algorithmic and Non-Differentiable Control Modes
Sample-Based Hybrid Mode Control: Asymptotically Optimal Switching of Algorithmic and Non-Differentiable Control Modes
Yilang Liu, Haoxiang You, Ian Abraham
2026 IEEE International Conference on Robotics and Automation (ICRA)   ·   01 Jun 2026   ·   doi:10.1109/icra57385.2026.11696777
Preprint
Efficient On-policy Visual-RL via Stochastic Decoupled Policy Gradient
Efficient On-policy Visual-RL via Stochastic Decoupled Policy Gradient
Haoxiang You, Yilang Liu, Davis Zong, Qian Wang, Teeratham Vitchutripop, Qi Wang, Daniel Rakita, Ian Abraham
arXiv   ·   26 May 2026   ·   doi:10.48550/arxiv.2605.26478
Koopman Operators in Robot Learning
Koopman Operators in Robot Learning
Lu Shi, Masih Haseli, Giorgos Mamakoukas, Daniel Bruder, Ian Abraham, Todd Murphey, Jorge Cortés, Konstantinos Karydis
IEEE Transactions on Robotics   ·   01 Jan 2026   ·   doi:10.1109/TRO.2026.3654384
Preprint
Infinite-Horizon Ergodic Control via Kernel Mean Embeddings
Infinite-Horizon Ergodic Control via Kernel Mean Embeddings
Christian Hughes, Ian Abraham
arXiv   ·   01 Jan 2026   ·   doi:10.48550/arxiv.2604.01023
Stein Variational Uncertainty-Adaptive Model Predictive Control
Stein Variational Uncertainty-Adaptive Model Predictive Control
Hrishikesh Sathyanarayan, Ian Abraham
arXiv   ·   01 Jan 2026   ·   doi:10.48550/arxiv.2604.01034
Ergodic Control and Controlled Diffusion for Robot Learning: Review and Tutorial
Ergodic Control and Controlled Diffusion for Robot Learning: Review and Tutorial
Max Muchen Sun, Cem Bilaloglu, Ananya Rao, Stefan Ivic, Guillaume Sartoretti, Kathleen Fitzsimons, Ian Abraham, Sylvain Calinon, Todd Murphey
arXiv   ·   01 Jan 2026   ·   doi:10.48550/arxiv.2609.13295
Contact-Implicit Stein Projected ADMM for Discovery of Diverse Contact-Rich Manipulation Strategies
Contact-Implicit Stein Projected ADMM for Discovery of Diverse Contact-Rich Manipulation Strategies
Hrishikesh Sathyanarayan, Christian Hughes, Ian Abraham
arXiv   ·   01 Jan 2026   ·   doi:10.48550/arxiv.2609.28299

2025

Accelerating Visual-Policy Learning through Parallel Differentiable Simulation
Accelerating Visual-Policy Learning through Parallel Differentiable Simulation
Haoxiang You, Yilang Liu, Ian Abraham
Advances in Neural Information Processing Systems 38   ·   02 Dec 2025   ·   source-work-id:755432
Preprint
Measure Preserving Flows for Ergodic Search in Convoluted Environments
Measure Preserving Flows for Ergodic Search in Convoluted Environments
Albert Xu, Bhaskar Vundurthy, Geordan Gutow, Ian Abraham, Jeff Schneider, Howie Choset
Springer Proceedings in Advanced Robotics   ·   02 Nov 2025   ·   doi:10.1007/978-3-032-04584-3_38
Preprint
RAnGE: Reachability Analysis for Guaranteed Ergodicity
RAnGE: Reachability Analysis for Guaranteed Ergodicity
Henry Berger, Ian Abraham
Springer Proceedings in Advanced Robotics   ·   30 Oct 2025   ·   doi:10.1007/978-3-032-09967-9_20
Preprint
3D Reprojection-Driven Robot Navigation Improves Depth Sensing
3D Reprojection-Driven Robot Navigation Improves Depth Sensing
Marvin Chancán, Alex Wong, Ian Abraham
2025 International Conference on Advanced Robotics and Mechatronics (ICARM)   ·   01 Aug 2025   ·   doi:10.1109/icarm65671.2025.11293600
Behavior Synthesis via Contact-Aware Fisher Information Maximization
Behavior Synthesis via Contact-Aware Fisher Information Maximization
Hrishikesh Sathyanarayan, Ian Abraham
Robotics: Science and Systems XXI   ·   21 Jun 2025   ·   doi:10.15607/rss.2025.xxi.118
Preprint
Multi-Agent Ergodic Exploration Under Smoke-Based Time-Varying Sensor Visibility Constraints
Multi-Agent Ergodic Exploration Under Smoke-Based Time-Varying Sensor Visibility Constraints
Elena Wittemyer, Ananya Rao, Ian Abraham, Howie Choset
2025 IEEE International Conference on Robotics and Automation (ICRA)   ·   19 May 2025   ·   doi:10.1109/icra55743.2025.11128670
Preprint
Ergodic Trajectory Optimization on Generalized Domains Using Maximum Mean Discrepancy
Ergodic Trajectory Optimization on Generalized Domains Using Maximum Mean Discrepancy
Christian Hughes, Houston Warren, Darrick Lee, Fabio Ramos, Ian Abraham
2025 IEEE International Conference on Robotics and Automation (ICRA)   ·   19 May 2025   ·   doi:10.1109/icra55743.2025.11127573
Preprint
Ergodic Exploration over Meshable Surfaces
Ergodic Exploration over Meshable Surfaces
Dayi Dong, Albert Xu, Geordan Gutow, Howie Choset, Ian Abraham
2025 IEEE International Conference on Robotics and Automation (ICRA)   ·   19 May 2025   ·   doi:10.1109/icra55743.2025.11127626
Preprint
Diversifying Parallel Ergodic Search: A Signature Kernel Evolution Strategy
Diversifying Parallel Ergodic Search: A Signature Kernel Evolution Strategy
Sreevardhan Sirigiri, Christian Hughes, Ian Abraham, Fabio Ramos
Advances in Neural Information Processing Systems 38   ·   01 Jan 2025   ·   doi:10.52202/085713-2482
Is Bellman Equation Enough for Learning Control?
Is Bellman Equation Enough for Learning Control?
Haoxiang You, Lekan Molu, Ian Abraham
arXiv   ·   01 Jan 2025   ·   doi:10.48550/arxiv.2503.02171
Quality Over Quantity: Curating Contact-Based Robot Datasets Improves Learning
Quality Over Quantity: Curating Contact-Based Robot Datasets Improves Learning
Hrishikesh Sathyanarayan, Victor Vantilborgh, Ian Abraham
arXiv   ·   01 Jan 2025   ·   doi:10.48550/arxiv.2510.18137
Learning On The Job: Zero-Shot Task Execution under Parametric Uncertainty via Trajectory-Parametrized Dual Control
Learning On The Job: Zero-Shot Task Execution under Parametric Uncertainty via Trajectory-Parametrized Dual Control
Victor Vantilborgh, Hrishikesh Sathyanarayan, Guillaume Crevecoeur, Ian Abraham, Tom Lefebvre
arXiv   ·   01 Jan 2025   ·   doi:10.48550/arxiv.2510.20483

2024

Time-optimal ergodic search: Multiscale coverage in minimum time
Time-optimal ergodic search: Multiscale coverage in minimum time
Dayi Ethan Dong, Henry Berger, Ian Abraham
The International Journal of Robotics Research   ·   08 Oct 2024   ·   doi:10.1177/02783649241273597
Preprint
Stein Variational Ergodic Search
Stein Variational Ergodic Search
Darrick Lee, Cameron Lerch, Fabio Ramos, Ian Abraham
Robotics: Science and Systems XX   ·   15 Jul 2024   ·   doi:10.15607/rss.2024.xx.001
Preprint
RB5 Low-Cost Explorer: Implementing Autonomous Long-Term Exploration on Low-Cost Robotic Hardware
RB5 Low-Cost Explorer: Implementing Autonomous Long-Term Exploration on Low-Cost Robotic Hardware
Adam Seewald, Marvin Chancán, Connor M. McCann, Seonghoon Noh, Omeed Fallahi, Hector Castillo, Ian Abraham, Aaron M. Dollar
2024 IEEE International Conference on Robotics and Automation (ICRA)   ·   13 May 2024   ·   doi:10.1109/icra57147.2024.10610399
Preprint
Energy-Aware Ergodic Search: Continuous Exploration for Multi-Agent Systems with Battery Constraints
Energy-Aware Ergodic Search: Continuous Exploration for Multi-Agent Systems with Battery Constraints
Adam Seewald, Cameron J. Lerch, Marvin Chancán, Aaron M. Dollar, Ian Abraham
2024 IEEE International Conference on Robotics and Automation (ICRA)   ·   13 May 2024   ·   doi:10.1109/icra57147.2024.10609871
Preprint
Scale-Invariant Specifications for Human–Swarm Systems
Scale-Invariant Specifications for Human–Swarm Systems
Joel Meyer, Ahalya Prabhakar, Allison Pinosky, Ian Abraham, Annalisa Taylor, ..., Giovani Diniz, Brendan Teich, Borislava Simidchieva, Shane Clark, Todd Murphey
IEEE Transactions on Field Robotics   ·   01 Jan 2024   ·   doi:10.55417/fr.2023011
Preprint
multi-robot ergodic control ergodicitys human-robot interaction
Sparse Sensing in Ergodic Optimization
Sparse Sensing in Ergodic Optimization
Ananya Rao, Ian Abraham, Guillaume Sartoretti, Howie Choset
Springer Proceedings in Advanced Robotics   ·   01 Jan 2024   ·   doi:10.1007/978-3-031-51497-5_9
Exciting Contact Modes in Differentiable Simulations for Robot Learning
Exciting Contact Modes in Differentiable Simulations for Robot Learning
Hrishikesh Sathyanarayan, Ian Abraham
arXiv   ·   01 Jan 2024   ·   doi:10.48550/arxiv.2411.10935

2023

A Pareto-Optimal Local Optimization Framework for Multiobjective Ergodic Search
A Pareto-Optimal Local Optimization Framework for Multiobjective Ergodic Search
Zhongqiang Ren, Akshaya Kesarimangalam Srinivasan, Bhaskar Vundurthy, Ian Abraham, Howie Choset
IEEE Transactions on Robotics   ·   01 Oct 2023   ·   doi:10.1109/TRO.2023.3284358
Preprint
optimization multi-objective optimization ergodic search ergodicity
Multi-Agent Multi-Objective Ergodic Search Using Branch and Bound
Multi-Agent Multi-Objective Ergodic Search Using Branch and Bound
Akshaya Kesarimangalam Srinivasan, Geordan Gutow, Zhongqiang Ren, Ian Abraham, Bhaskar Vundurthy, Howie Choset
2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)   ·   01 Oct 2023   ·   doi:10.1109/iros55552.2023.10341353
Bi-Level Image-Guided Ergodic Exploration with Applications to Planetary Rovers
Bi-Level Image-Guided Ergodic Exploration with Applications to Planetary Rovers
Elena Wittemyer, Ian Abraham
2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)   ·   01 Oct 2023   ·   doi:10.1109/iros55552.2023.10341437
Preprint
Time Optimal Ergodic Search
Time Optimal Ergodic Search
Dayi Dong, Henry Berger, Ian Abraham
Robotics: Science and Systems XIX   ·   13 Jul 2023   ·   doi:10.15607/RSS.2023.XIX.082
In this paper, we investigate solutions to the time-optimal ergodic search problem for fast and adaptive robotic search and exploration.
Preprint
Code
RSS Talk
time optimal coverage ergodicity ergodic control
Learning Stable Models for Prediction and Control
Learning Stable Models for Prediction and Control
Giorgos Mamakoukas, Ian Abraham, Todd D. Murphey
IEEE Transactions on Robotics   ·   01 Jun 2023   ·   doi:10.1109/TRO.2022.3228130
Preprint
Koopman operator theory optimal control learning
Safety-Critical Ergodic Exploration in Cluttered Environments via Control Barrier Functions
Safety-Critical Ergodic Exploration in Cluttered Environments via Control Barrier Functions
Cameron Lerch, Dayi Dong, Ian Abraham
2023 IEEE International Conference on Robotics and Automation (ICRA)   ·   29 May 2023   ·   doi:10.1109/icra48891.2023.10161032
Preprint
Scale-Invariant Fast Functional Registration
Scale-Invariant Fast Functional Registration
Muchen Sun, Allison Pinosky, Ian Abraham, Todd Murphey
Springer Proceedings in Advanced Robotics   ·   01 Jan 2023   ·   doi:10.1007/978-3-031-25555-7_11
Preprint
DEUX: Active Exploration for Learning Unsupervised Depth Perception
DEUX: Active Exploration for Learning Unsupervised Depth Perception
Marvin Chancán, Alex Wong, Ian Abraham
arXiv   ·   01 Jan 2023   ·   doi:10.48550/arxiv.2310.06164

2022

A Local Optimization Framework for Multi-Objective Ergodic Search
A Local Optimization Framework for Multi-Objective Ergodic Search
Zhongqiang Ren, Akshaya Kesarimangalam Srinivasan, Howard Coffin, Ian Abraham, Howie Choset
Robotics: Science and Systems XVIII   ·   27 Jun 2022   ·   doi:10.15607/rss.2022.xviii.052
Preprint
Hybrid control for combining model-based and model-free reinforcement learning
Hybrid control for combining model-based and model-free reinforcement learning
Allison Pinosky, Ian Abraham, Alexander Broad, Brenna Argall, Todd D Murphey
The International Journal of Robotics Research   ·   02 Jun 2022   ·   doi:10.1177/02783649221083331
Multi-Agent Dynamic Ergodic Search with Low-Information Sensors
Multi-Agent Dynamic Ergodic Search with Low-Information Sensors
Howard Coffin, Ian Abraham, Guillaume Sartoretti, Tyler Dillstrom, Howie Choset
2022 International Conference on Robotics and Automation (ICRA)   ·   23 May 2022   ·   doi:10.1109/icra46639.2022.9812037
Learning Cooperative Multi-Agent Policies With Partial Reward Decoupling
Learning Cooperative Multi-Agent Policies With Partial Reward Decoupling
Benjamin Freed, Aditya Kapoor, Ian Abraham, Jeff Schneider, Howie Choset
IEEE Robotics and Automation Letters   ·   01 Apr 2022   ·   doi:10.1109/lra.2021.3135930
Preprint
A Second-Order Reachable Sets Computation Scheme via a Cauchy-Type Variational Hamilton-Jacobi-Isaacs Equation
A Second-Order Reachable Sets Computation Scheme via a Cauchy-Type Variational Hamilton-Jacobi-Isaacs Equation
Lekan Molu, Ian Abraham, Sylvia Herbert
arXiv   ·   01 Jan 2022   ·   doi:10.48550/arxiv.2203.03865

2021

Linear Policies are Sufficient to Enable Low-Cost Quadrupedal Robots to Traverse Rough Terrain
Linear Policies are Sufficient to Enable Low-Cost Quadrupedal Robots to Traverse Rough Terrain
Maurice Rahme, Ian Abraham, Matthew L. Elwin, Todd D. Murphey
2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)   ·   27 Sep 2021   ·   doi:10.1109/iros51168.2021.9636011
An Ergodic Measure for Active Learning From Equilibrium
An Ergodic Measure for Active Learning From Equilibrium
Ian Abraham, Ahalya Prabhakar, Todd D. Murphey
IEEE Transactions on Automation Science and Engineering   ·   01 Jul 2021   ·   doi:10.1109/tase.2020.3043636
Preprint
A dynamical model for generating synthetic data to quantify active tactile sensing behavior in the rat
A dynamical model for generating synthetic data to quantify active tactile sensing behavior in the rat
Nadina O. Zweifel, Nicholas E. Bush, Ian Abraham, Todd D. Murphey, Mitra J. Z. Hartmann
Proceedings of the National Academy of Sciences   ·   01 Jul 2021   ·   doi:10.1073/pnas.2011905118
Hybrid Control for Learning Motor Skills
Hybrid Control for Learning Motor Skills
Ian Abraham, Alexander Broad, Allison Pinosky, Brenna Argall, Todd D. Murphey
Springer Proceedings in Advanced Robotics   ·   01 Jan 2021   ·   doi:10.1007/978-3-030-66723-8_27
Preprint

2020

Ergodic Specifications for Flexible Swarm Control: From User Commands to Persistent Adaptation
Ergodic Specifications for Flexible Swarm Control: From User Commands to Persistent Adaptation
Ahalya Prabhakar, Ian Abraham, Annalisa Taylor, Millicent Schlafly, Katarina Popovic, Giovani Diniz, Brendan Teich, Borislava Simidchieva, Shane Clark, Todd Murphey
Robotics: Science and Systems XVI   ·   12 Jul 2020   ·   doi:10.15607/rss.2020.xvi.067
Preprint
Data-driven Koopman operators for model-based shared control of human–machine systems
Data-driven Koopman operators for model-based shared control of human–machine systems
Alexander Broad, Ian Abraham, Todd Murphey, Brenna Argall
The International Journal of Robotics Research   ·   10 Jun 2020   ·   doi:10.1177/0278364920921935
Preprint
Model-Based Generalization Under Parameter Uncertainty Using Path Integral Control
Model-Based Generalization Under Parameter Uncertainty Using Path Integral Control
Ian Abraham, Ankur Handa, Nathan Ratliff, Kendall Lowrey, Todd D. Murphey, Dieter Fox
IEEE Robotics and Automation Letters   ·   01 Apr 2020   ·   doi:10.1109/lra.2020.2972836
Preprint
Experimental Applications of the Koopman Operator in Active Learning for Control
Experimental Applications of the Koopman Operator in Active Learning for Control
Thomas A. Berrueta, Ian Abraham, Todd Murphey
Lecture Notes in Control and Information Sciences   ·   01 Jan 2020   ·   doi:10.1007/978-3-030-35713-9_16
Active Area Coverage from Equilibrium
Active Area Coverage from Equilibrium
Ian Abraham, Ahalya Prabhakar, Todd D. Murphey
Springer Proceedings in Advanced Robotics   ·   01 Jan 2020   ·   doi:10.1007/978-3-030-44051-0_17
Preprint
Dynamics and Domain Randomized Gait Modulation with Bezier Curves for Sim-to-Real Legged Locomotion
Dynamics and Domain Randomized Gait Modulation with Bezier Curves for Sim-to-Real Legged Locomotion
Maurice Rahme, Ian Abraham, Matthew L. Elwin, Todd D. Murphey
arXiv   ·   01 Jan 2020   ·   doi:10.48550/arxiv.2010.12070

2019

WHISKiT Physics: A three-dimensional mechanical model of the rat vibrissal array
WHISKiT Physics: A three-dimensional mechanical model of the rat vibrissal array
Nadina O. Zweifel, Nicholas E. Bush, Ian Abraham, Todd D. Murphey, Mitra J.Z. Hartmann
openRxiv   ·   03 Dec 2019   ·   doi:10.1101/862839
Active Learning of Dynamics for Data-Driven Control Using Koopman Operators
Active Learning of Dynamics for Data-Driven Control Using Koopman Operators
Ian Abraham, Todd D. Murphey
IEEE Transactions on Robotics   ·   01 Oct 2019   ·   doi:10.1109/tro.2019.2923880
Preprint

2018

Decentralized Ergodic Control: Distribution-Driven Sensing and Exploration for Multiagent Systems
Decentralized Ergodic Control: Distribution-Driven Sensing and Exploration for Multiagent Systems
Ian Abraham, Todd D. Murphey
IEEE Robotics and Automation Letters   ·   01 Oct 2018   ·   doi:10.1109/lra.2018.2849588
Preprint
Data-Driven Measurement Models for Active Localization in Sparse Environments
Data-Driven Measurement Models for Active Localization in Sparse Environments
Ian Abraham, Anastasia Mavrommati, Todd Murphey
Robotics: Science and Systems XIV   ·   26 Jun 2018   ·   doi:10.15607/rss.2018.xiv.045
Preprint
Real-Time Area Coverage and Target Localization Using Receding-Horizon Ergodic Exploration
Real-Time Area Coverage and Target Localization Using Receding-Horizon Ergodic Exploration
Anastasia Mavrommati, Emmanouil Tzorakoleftherakis, Ian Abraham, Todd D. Murphey
IEEE Transactions on Robotics   ·   01 Feb 2018   ·   doi:10.1109/tro.2017.2766265
Preprint
Structured Neural Network Dynamics for Model-based Control
Structured Neural Network Dynamics for Model-based Control
Alexander Broad, Ian Abraham, Todd Murphey, Brenna Argall
arXiv   ·   01 Jan 2018   ·   doi:10.48550/arxiv.1808.01184

2017

Model-Based Control Using Koopman Operators
Model-Based Control Using Koopman Operators
Ian Abraham, Gerardo de la Torre, Todd Murphey
Robotics: Science and Systems XIII   ·   12 Jul 2017   ·   doi:10.15607/rss.2017.xiii.052
Preprint
Ergodic Exploration Using Binary Sensing for Nonparametric Shape Estimation
Ergodic Exploration Using Binary Sensing for Nonparametric Shape Estimation
Ian Abraham, Ahalya Prabhakar, Mitra J. Z. Hartmann, Todd D. Murphey
IEEE Robotics and Automation Letters   ·   01 Apr 2017   ·   doi:10.1109/lra.2017.2654542
Preprint

2015

Model predictive control of buoyancy propelled autonomous underwater glider
Model predictive control of buoyancy propelled autonomous underwater glider
Ian Abraham, Jingang Yi
2015 American Control Conference (ACC)   ·   01 Jul 2015   ·   doi:10.1109/acc.2015.7170893
A Nonlinear Leg Damping Model for the Prediction of Running Forces and Stability
A Nonlinear Leg Damping Model for the Prediction of Running Forces and Stability
Ian Abraham, ZhuoHua Shen, Justin Seipel
Journal of Computational and Nonlinear Dynamics   ·   02 Apr 2015   ·   doi:10.1115/1.4028751