Intelligent Autonomous Manipulation (IAM) Lab - Robotics Institute Carnegie Mellon University
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Intelligent Autonomous Manipulation (IAM) Lab
Explore the challenges of creating general purpose robots that are capable of performing manipulation tasks in unstructured and everyday environments.
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Displaying 66 Publications

2025
Low-Cost Multimodal Sensing and Dexterity for Deformable Object Manipulation
Kevin Zhang
PhD Thesis, Tech. Report, CMU-RI-TR-25-08, February, 2025
Enabling Reliable Model-Based Planning with Inaccurate Models
Alex LaGrassa
PhD Thesis, Tech. Report, CMU-RI-TR-25-07, February, 2025
2024
Autonomous Sensor Insertion and Exchange for Cornstalk Monitoring Robot
Janice Seungyeon Lee
Master's Thesis, Tech. Report, CMU-RI-TR-24-73, December, 2024
Towards Autonomous Crop Monitoring: Inserting Sensors in Cluttered Environments
Moonyoung Lee, Aaron Berger, Dominic Guri, Kevin Zhang, Lisa Coffey, George Kantor, and Oliver Kroemer
Journal Article, IEEE Robotics and Automation Letters, September, 2024
Plan to Learn: Active Robot Learning by Planning
Shivam Vats
PhD Thesis, Tech. Report, CMU-RI-TR-24-40, August, 2024
Causal Robot Learning for Manipulation
Tabitha Edith Lee
PhD Thesis, Tech. Report, CMU-RI-TR-24-25, July, 2024
Leveraging Simulation-Based Model Preconditions for Fast Action Parameter Optimization with Multiple Models
M. Yunus Seker and Oliver Kroemer
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, July, 2024
Task-Oriented Active Learning of Model Preconditions for Inaccurate Dynamics Models
Alex LaGrassa, Moonyoung Lee, and Oliver Kroemer
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, May, 2024
Estimating Material Properties of Interacting Objects Using Sum-GP-UCB
M. Yunus Seker and Oliver Kroemer
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, May, 2024
Tilde: Teleoperation for Dexterous In-Hand Manipulation Learning with a DeltaHand
Zilin Si, Kevin Lee Zhang, Zeynep Temel, and Oliver Kroemer
Conference Paper, Proceedings of (RSS) Robotics Science and Systems, March, 2024

current head

Portrait of Oliver Kroemer
Oliver Kroemer

current student

Portrait of Madhusha Goonesekera
Madhusha Goonesekera
Portrait of Moonyoung Lee
Mark Lee
Portrait of Janice Lee
Janice Lee
Portrait of Sarvesh Patil
Sarvesh Patil
Portrait of Saumya Saxena
Saumya Saxena
Portrait of Muhammet Yunus Seker
Muhammet Yunus Seker
Portrait of Shrudhi Ramesh Shanthi
Shrudhi Ramesh Shanthi
Portrait of Zilin Si
Zilin Si
Portrait of Jeff Tan
Jeff Tan
Portrait of Xinyu Wang
Xinyu Wang

past members

Below is a list of this RI member's most recent, active or featured projects. To view archived projects, please visit the project archive

Integrated Planning and Learning

The Pillar project explores synergies between planning and learning to create a fundamental framework for lifelong learning in robotics. Our research focuses on generating novel subtasks and skills, as well as determining how to structure the skill learning process.
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