-
Seeing the Bigger Picture: 3D Latent Mapping for Mobile Manipulation Policy
Learning
S. Kim, W. Chung, Y. Tian, Z. Dai, A. Shukla, H. Su and N. Atanasov
IEEE International Conference on Robotics and Automation (ICRA), 2026.
[bib]
[pdf]
[arXiv]
[project]
@inproceedings{Kim_BiggerPicture_ICRA26,
author = {Sunghwan Kim and Woojeh Chung and Yulun Tian and Zhirui Dai and Arth Shukla and Hao Su and Nikolay Atanasov},
title = {{Seeing the Bigger Picture: 3D Latent Mapping for Mobile Manipulation Policy Learning}},
booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
year = {2026},
url = {https://arxiv.org/abs/2510.03885}
}
-
$\nabla$-SDF: Learning Euclidean Signed Distance Functions Online with
Gradient-Augmented Octree Interpolation and Neural Residual
Z. Dai, Q. Qian, T. Fan, N. Atanasov
IEEE International Conference on Intelligent Robots and Systems (IROS), Under
Review, 2026.
[bib]
[pdf]
[arXiv]
[project]
@misc{Dai_GradSDF_UR26,
author = {Zhirui Dai and Qihao Qian and Tianxing Fan and Nikolay Atanasov},
title = {{$\nabla$-SDF: Learning Euclidean Signed Distance Functions Online with Gradient-Augmented Octree Interpolation and Neural Residual}},
year = {2026},
url = {https://arxiv.org/abs/2510.1899}
}
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Real-Time Learning of Signed Distance Function via Kernel Regression with
Uncertainty Quantification
Z. Dai, T. Fan, M. Amani, J. Seo, K. M. B. Lee, H. Oh and N. Atanasov
IEEE Robotics and Automation Letters (RA-L), Under Review, 2026.
[bib]
[pdf]
[project]
@misc{Dai_KernelSDF_UR26,
author = {Zhirui Dai and Tianxing Fan and Mani Amani and Jaemin Seo and Kyungmin B. Lee and Hyondong Oh and Nikolay Atanasov},
title = {{Real-Time Learning of Signed Distance Function via Kernel Regression with Uncertainty Quantification}},
year = {2026}
}
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Learning Scene-Level Signed Directional Distance Function with Ellipsoidal Priors
and Neural Residuals
Z. Dai, H. Shin, Y. Tian, K. M. B. Lee and N. Atanasov
IEEE Transactions on Pattern Analysis and Machine Intelligence (TPAMI), Minor
Revision, 2026.
[bib]
[pdf]
[arXiv]
[project]
@misc{Dai_SDDF_TPAMI26,
author = {Zhirui Dai and Hojoon Shin and Yulun Tian and Ki Myung Brian Lee and Nikolay Atanasov},
title = {{Learning Scene-Level Signed Directional Distance Function with Ellipsoidal Priors and Neural Residuals}},
year = {2026},
url = {https://arxiv.org/abs/2503.20066}
}
-
Learning Scene-Level Signed Directional Distance Function for Aerial
Autonomy
Z. Dai, H. Shin, Y. Tian, K. M. B. Lee and N. Atanasov
Workshop on Leveraging Implicit Methods for Aerial Autonomy at RSS, 2025.
[Best Paper Award]
[bib]
[pdf]
[project]
-
Seeing the Bigger Picture: 3D Latent Mapping for Mobile Manipulation Policy
Learning
S. Kim, W. Chung, Y. Tian, Z. Dai, A. Shukla, H. Su and N. Atanasov
Workshop on Mobile Manipulation and Workshop on Learned Robot Representations at
RSS, 2025.
[Best Paper Nomination]
[bib]
[pdf]
[project]
-
LTLCodeGen: Code Generation of Syntactically Correct Temporal Logic for Robot Task
Planning
B. Rabiei, M. Kumar A. R., Z. Dai, S. L. S. R. Pilla, Q. Dong and N.
Atanasov
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp.
19240-19247,
2025.
[bib]
[pdf]
[doi]
[arXiv]
[project]
@inproceedings{Rabiei_LTLCodeGen_IROS25,
author = {Rabiei, Behrad and Kumar A. R., Mahesh and Dai, Zhirui and Pilla, Surya Lakshmi Subba Rao and Dong, Qiyue and Atanasov, Nikolay},
title = {{LTLCodeGen: Code Generation of Syntactically Correct Temporal Logic for Robot Task Planning}},
booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
year = {2025},
pages = {19240-19247},
url = {https://arxiv.org/abs/2503.07902},
doi = {https://doi.org/10.1109/IROS60139.2025.11246351}
}
-
Optimal Scene Graph Planning with Large Language Model Guidance
Z. Dai, A. Asgharivaskasi, T. Duong, S. Lin, M.-E. Tzes, G. J. Pappas and
N. Atanasov
IEEE International Conference on Robotics and Automation (ICRA), pp. 14062-14069,
2024.
[bib]
[pdf]
[doi]
[arXiv]
[project]
@inproceedings{Dai_LLMPlanning_ICRA24,
author = {Zhirui Dai and Arash Asgharivaskasi and Thai Duong and Shusen Lin and Maria-Elizabeth Tzes and George J. Pappas and Nikolay Atanasov},
title = {{Optimal Scene Graph Planning with Large Language Model Guidance}},
booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
year = {2024},
pages = {14062-14069},
url = {https://arxiv.org/abs/2309.09182},
doi = {https://doi.org/10.1109/ICRA57147.2024.10610599}
}
-
Sensor-Based Distributionally Robust Control for Safe Robot Navigation in Dynamic
Environments
K. Long, Y. Yi, Z. Dai, S. Herbert, J. Cortés and N. Atanasov
The International Journal of Robotics Research (IJRR), 2025.
[bib]
[pdf]
[doi]
[arXiv]
[project]
@article{Long_DROSafeNavigation_IJRR25,
author = {Kehan Long and Yinzhuang Yi and Zhirui Dai and Sylvia Herbert and Jorge Cortés and Nikolay Atanasov},
title = {{Sensor-Based Distributionally Robust Control for Safe Robot Navigation in Dynamic Environments}},
journal = {The International Journal of Robotics Research (IJRR)},
year = {2025},
url = {https://arxiv.org/abs/2405.18251},
doi = {https://doi.org/10.1177/02783649251352000}
}
-
Safe Bubble Cover for Motion Planning on Distance Fields
K. M. B. Lee, Z. Dai, C. L. Gentil, L. Wu, N. Atanasov, T.
Vidal-Calleja
arXiv preprint arXiv:2408.13377, 2024.
[bib]
[pdf]
[arXiv]
@misc{Lee_SafeBubble_arXiv,
author = {Ki Myung Brian Lee and Zhirui Dai and Cedric Le Gentil and Lan Wu and Nikolay Atanasov and Teresa Vidal-Calleja},
title = {{Safe Bubble Cover for Motion Planning on Distance Fields}},
year = {2024},
url = {https://arxiv.org/abs/2408.13377}
}
-
BEV-Net: Accessing Social Distancing Compliance By Joint People Localization and
Geometric Reasoning
Z. Dai, Y. Jiang, Y. Li, B. Liu, A. B. Chan, N. Vasconcelos
IEEE/CVF International Conference on Computer Vision (ICCV), 2021.
[bib]
[pdf]
[supp]
[doi]
[arXiv]
@InProceedings{Dai_2021_ICCV,
author = {Dai, Zhirui and Jiang, Yuepeng and Li, Yi and Liu, Bo and Chan, Antoni B. and Vasconcelos, Nuno},
title = {BEV-Net: Assessing Social Distancing Compliance by Joint People Localization and Geometric Reasoning},
booktitle = {Proceedings of the IEEE/CVF International Conference on Computer Vision (ICCV)},
month = {October},
year = {2021},
pages = {5401-5411},
doi = {10.1109/ICCV48922.2021.00535},
url = {https://arxiv.org/abs/2110.04931}
}