Publications

BibTeX

@misc{compactsymbolic-2027/,
  title={Compact Symbolic Representation Learning for Efficient Planning from Unsupervised Interaction},
  author={Geiss H-J, Hollenstein J, Agostini A, Posner I & Piater J},
  year = "2027"
}

@misc{coherentoffpoli-2026/6,
  title={Coherent Off-Policy Improvement of Large Behavior Models with Learned Rewards},
  author={Scherer C, Watson J, Gruner T, Palenicek D, Posner I et al.},
  year = "2026"
}

@misc{noepochlikethep-2026/5,
  title={No Epoch Like the Present: Robust Climate Emulation Requires Out-of-Distribution Generalisation},
  author={Stanley-Clamp B, Lei A, Christensen HM & Posner I},
  year = "2026"
}

@misc{xqcfdaccelerati-2026/5,
  title={XQCfD: Accelerating Fast Actor-Critic Algorithms with Prior Data and Prior Policies},
  author={Palenicek D, Vogt F, Watson J, Posner I, Kragic D et al.},
  year = "2026"
}

@misc{posteriorsampli-2026/3,
  title={Posterior Sampling Reinforcement Learning with Gaussian Processes for Continuous Control: Sublinear Regret Bounds for Unbounded State Spaces},
  author={Flynn H, Watson J, Posner I & Peters J},
  year = "2026"
}

@inproceedings{disentanglingdy-2026/1,
  title={Disentangling Dynamical Systems: Causal Representation Learning Meets Local Sparse Attention},
  author={Baumgartner MW, Lei A, Watson J & Posner I},
  pages={119-165},
  year = "2026"
}

BibTeX

@article{anendtoendframe-2025/12,
  title={An End-to-End Framework for Modeling Pneumatic Soft Robots Based on Differentiable Finite Element Methods},
  author={Zhong S, Yao Y, Maiolino P & Posner I},
  journal={IEEE Robotics and Automation Letters},
  volume={10},
  pages={13003-13010},
  publisher={Institute of Electrical and Electronics Engineers (IEEE)},
  year = "2025"
}

BibTeX

@inproceedings{lumoslanguageco-2025/9,
  title={LUMOS: language-conditioned imitation learning with world models},
  author={Demoss B, Hawes N & Posner H},
  booktitle={IEEE Robotics and Automation Society (RAS 2025)},
  pages={8219-8225},
  year = "2025"
}

BibTeX

@article{thecomplexitydy-2025/8,
  title={The Complexity Dynamics of Grokking},
  author={DeMoss B, Sapora S, Foerster J, Hawes N & Posner I},
  journal={Physica D Nonlinear Phenomena},
  volume={482},
  number={134859},
  pages={134859-134859},
  publisher={Elsevier},
  year = "2025"
}

@misc{enhancingjointh-2025/8,
  title={Enhancing Joint Human-AI Inference in Robot Missions: A Confidence-Based Approach},
  author={Nguyen D-A, Colombatto C, Fleming S, Posner I, Hawes N et al.},
  year = "2025"
}

BibTeX

@inproceedings{offlineadaptati-2025/5,
  title={Offline Adaptation of Quadruped Locomotion Using Diffusion Models},
  author={O'Mahoney R, Mitchell AL, Yu W, Posner I & Havoutis I},
  booktitle={2025 IEEE International Conference on Robotics and Automation (ICRA)},
  pages={9974-9980},
  year = "2025"
}

BibTeX

@inproceedings{groupdecisionma-2025/3,
  title={Group decision-making in robot teleoperation: two heads are better than one},
  author={Nguyen A, Bhattacharyya R, Colombatto C, Fleming S, Posner H et al.},
  booktitle={IEEE/ACM International Conference on Human-Robot Interaction (HRI 2025)},
  pages={489-500},
  year = "2025"
}

BibTeX

@inproceedings{groupdecisionma-2025/3,
  title={Group Decision-Making in Robot Teleoperation: Two Heads are Better Than One},
  author={Nguyen D-A, Bhattacharyya R, Colombatto C, Fleming S, Posner I et al.},
  booktitle={2025 20th ACM/IEEE International Conference on Human-Robot Interaction (HRI)},
  pages={489-500},
  year = "2025"
}

BibTeX

@misc{combograsplearn-2025/2,
  title={COMBO-Grasp: learning constraint-based manipulation for bimanual occluded grasping},
  author={Yamada J, Mitchell A, Collins J & Posner I},
  year = "2025"
}

@misc{jointdecisionma-2025/1,
  title={Joint Decision-Making in Robot Teleoperation: When are Two Heads Better Than One?},
  author={Nguyen D-A, Bhattacharyya R, Colombatto C, Fleming S, Posner I et al.},
  year = "2025"
}

BibTeX

@article{visionlanguagea-2025/1,
  title={Vision-Language-Action Models for Robotics: A Review Towards Real-World Applications},
  author={Kawaharazuka K, Oh J, Yamada J, Posner I & Zhu Y},
  journal={IEEE Access},
  volume={13},
  pages={162467-162504},
  publisher={Institute of Electrical and Electronics Engineers (IEEE)},
  year = "2025"
}

BibTeX

@inproceedings{spartanasparset-2025/1,
  title={SPARTAN: A Sparse Transformer World Model Attending to What Matters},
  author={Lei A, Schölkopf B & Posner I},
  booktitle={Advances in Neural Information Processing Systems 38},
  pages={171067-171092},
  year = "2025"
}

BibTeX

@article{tactgentactiles-2024/12,
  title={TactGen: tactile sensory data generation via zero-shot sim-to-real transfer},
  author={Zhong S, Albini A, Maiolino P & Posner I},
  journal={IEEE Transactions on Robotics},
  volume={41},
  pages={1316-1328},
  publisher={Institute of Electrical and Electronics Engineers},
  year = "2024"
}

@misc{thecomplexitydy-2024/12,
  title={The Complexity Dynamics of Grokking},
  author={DeMoss B, Sapora S, Foerster J, Hawes N & Posner I},
  year = "2024"
}

@misc{offlineadaptati-2024/11,
  title={Offline Adaptation of Quadruped Locomotion using Diffusion Models},
  author={O'Mahoney R, Mitchell AL, Yu W, Posner I & Havoutis I},
  year = "2024"
}

BibTeX

@inproceedings{twistteacherstu-2024/8,
  title={TWIST: Teacher-Student World Model Distillation for Sim-to-Real Transfer},
  author={Yamada J, Rigter M, Collins J & Posner I},
  booktitle={IEEE International Conference on Robotics and Automation (ICRA 2024)},
  pages={9190-9196},
  year = "2024"
}

BibTeX

@article{areviewofdiffer-2024/7,
  title={A Review of Differentiable Simulators},
  author={Newbury R, Collins J, He K, Pan J, Posner I et al.},
  journal={IEEE Access},
  volume={PP},
  pages={1-1},
  publisher={Institute of Electrical and Electronics Engineers (IEEE)},
  year = "2024"
}

@inproceedings{efficientskilla-2024/6,
  title={Efficient skill acquisition for insertion tasks in obstructed environments},
  author={Yamada J, Collins J & Posner I},
  booktitle={6th Annual Learning for Dynamics & Control Conference (L4DC 2024)},
  pages={615-627},
  year = "2024"
}

BibTeX

@article{oscillatinglate-2024/5,
  title={Oscillating latent dynamics in robot systems during walking and reaching},
  author={Parker Jones O, Mitchell A, Yamada J, Merkt W, Geisert M et al.},
  journal={Scientific Reports},
  volume={14},
  number={11434},
  publisher={Springer Nature},
  year = "2024"
}

BibTeX

@misc{gaitorlearninga-2024/5,
  title={Gaitor: Learning a Unified Representation Across Gaits for Real-World Quadruped Locomotion},
  author={Mitchell AL, Merkt W, Papatheodorou A, Havoutis I & Posner I},
  year = "2024"
}

@article{worldmodelsviap-2024/3,
  title={World models via policy-guided trajectory diffusion},
  author={Rigter M, Yamada J & Posner I},
  journal={Transactions on Machine Learning Research},
  volume={2024},
  publisher={Journal of Machine Learning Research},
  year = "2024"
}

BibTeX

@misc{dcubedlatentdif-2024/3,
  title={D-Cubed: latent diffusion trajectory optimisation for dexterous deformable manipulation},
  author={Yamada J, Zhong S, Collins J & Posner I},
  year = "2024"
}

BibTeX

@inproceedings{neurallatentgeo-2024/2,
  title={Neural latent geometry search: product manifold inference via Gromov-Hausdorff-informed Bayesian optimization},
  author={Sáez de Ocáriz Borde H, Arroyo Á, Morales López I, Posner I & Dong X},
  booktitle={37th Annual Conference on Neural Information Processing Systems (NeurIPS 2023)},
  pages={38370-38403},
  year = "2024"
}

BibTeX

@article{dreamupdobjectc-2024/1,
  title={DreamUp3D: Object-Centric Generative Models for Single-View 3D Scene Understanding and Real-to-Sim Transfer},
  author={Wu Y, Saez de Ocariz Borde H, Collins J, Jones OP & Posner I},
  journal={IEEE Robotics and Automation Letters},
  year = "2024"
}

@inproceedings{rewardfreecurri-2024/1,
  title={REWARD-FREE CURRICULA FOR TRAINING ROBUST WORLD MODELS},
  author={Rigter M, Jiang M & Posner I},
  year = "2024"
}

@inproceedings{gaitorlearninga-2024/1,
  title={Gaitor: Learning a Unified Representation Across Gaits for Real-World Quadruped Locomotion},
  author={Mitchell AL, Merkt W, Papatheodorou A, Havoutis I & Posner I},
  pages={780-793},
  year = "2024"
}

BibTeX

@article{autographpredic-2023/11,
  title={AutoGraph: predicting lane graphs from traffic observations},
  author={Zurn J, Posner I & Burgard W},
  journal={IEEE Robotics and Automation Letters},
  volume={9},
  pages={73-80},
  publisher={IEEE},
  year = "2023"
}

BibTeX

@article{rampabenchmarkf-2023/11,
  title={RAMP: A Benchmark for Evaluating Robotic Assembly Manipulation and Planning},
  author={Collins J, Robson M, Yamada J, Sridharan M, Janik K et al.},
  journal={IEEE Robotics and Automation Letters},
  volume={9},
  pages={9-16},
  year = "2023"
}

@article{variationalcaus-2023/11,
  title={Variational Causal Dynamics: Discovering Modular World Models from Interventions},
  author={Lei A, Schölkopf B & Posner I},
  journal={Transactions on Machine Learning Research},
  volume={2023},
  year = "2023"
}

BibTeX

@inproceedings{leveragingscene-2023/7,
  title={Leveraging scene embeddings for gradient-based motion planning in latent space},
  author={Yamada J, Hung CM, Collins J, Havoutis I & Posner I},
  booktitle={2023 IEEE International Conference on Robotics and Automation (ICRA)},
  pages={5674-5680},
  year = "2023"
}

@misc{rampabenchmarkf-2023/5,
  title={RAMP: A Benchmark for Evaluating Robotic Assembly Manipulation and Planning},
  author={Collins J, Robson M, Yamada J, Sridharan M, Janik K et al.},
  year = "2023"
}

BibTeX

@misc{youonlylookaton-2023/5,
  title={You Only Look at One: Category-Level Object Representations for Pose Estimation From a Single Example},
  author={Goodwin W, Havoutis I & Posner I},
  year = "2023"
}

@inproceedings{touchinganerfle-2023/3,
  title={Touching a NeRF: leveraging neural radiance fields for tactile sensory data generation},
  author={Zhong S, Albini A, Parker Jones O, Maiolino P & Posner H},
  booktitle={7th Annual Conference on Robot Learning (CoRL 2023)},
  pages={1618-1628},
  year = "2023"
}

@inproceedings{youonlylookaton-2023/3,
  title={You only look at one: category-level object representations for pose estimation from a single example},
  author={Goodwin W, Havoutis I & Posner I},
  booktitle={6th Conference on Robot Learning (CoRL 2022)},
  pages={1435-1445},
  year = "2023"
}

@inproceedings{projectionsofmo-2023/3,
  title={Projections of model spaces for latent graph inference},
  author={Posner H, Arroyo A & Sáez De Ocáriz Borde H},
  booktitle={ICLR 2023 Workshop on Physics for Machine Learning},
  year = "2023"
}

BibTeX

@misc{leveragingscene-2023/3,
  title={Leveraging Scene Embeddings for Gradient-Based Motion Planning in Latent Space},
  author={Yamada J, Hung C-M, Collins J, Havoutis I & Posner I},
  year = "2023"
}

@misc{dittoofflineimi-2023/2,
  title={DITTO: Offline Imitation Learning with World Models},
  author={DeMoss B, Duckworth P, Foerster J, Hawes N & Posner I},
  year = "2023"
}

@inproceedings{touchinganerfle-2023/1,
  title={Touching a NeRF: Leveraging Neural Radiance Fields for Tactile Sensory Data Generation},
  author={Zhong S, Albini A, Jones OP, Maiolino P & Posner I},
  pages={1618-1628},
  year = "2023"
}

@inproceedings{youonlylookaton-2023/1,
  title={You Only Look at One: Category-Level Object Representations for Pose Estimation From a Single Example},
  author={Goodwin W, Havoutis I & Posner I},
  pages={1435-1445},
  year = "2023"
}

BibTeX

@inproceedings{leveragingscene-2023/1,
  title={Leveraging Scene Embeddings for Gradient-Based Motion Planning in Latent Space},
  author={Yamada J, Hung CM, Collins J, Havoutis I & Posner I},
  pages={5674-5680},
  year = "2023"
}

BibTeX

@article{autographpredic-2023/1,
  title={AutoGraph: Predicting Lane Graphs From Traffic Observations},
  author={Zurn J, Posner I & Burgard W},
  journal={IEEE Robotics and Automation Letters},
  year = "2023"
}

BibTeX

@article{rampabenchmarkf-2023/1,
  title={RAMP: A Benchmark for Evaluating Robotic Assembly Manipulation and Planning},
  author={Collins J, Robson M, Yamada J, Sridharan M, Janik K et al.},
  journal={IEEE Robotics and Automation Letters},
  year = "2023"
}

BibTeX

@inproceedings{fromprimatestor-2023/1,
  title={From Primates to Robots: Emerging Oscillatory Latent-Space Dynamics for Sensorimotor Control},
  author={Mitchell A, Parker Jones O, Yamada J, Merkt W, Havoutis I et al.},
  booktitle={2023 Conference on Cognitive Computational Neuroscience},
  year = "2023"
}

@inproceedings{priorshierarchy-2023/1,
  title={PRIORS, HIERARCHY, AND INFORMATION ASYMMETRY FOR SKILL TRANSFER IN REINFORCEMENT LEARNING},
  author={Salter S, Hartikainen K, Goodwin W & Posner I},
  year = "2023"
}

BibTeX

@article{vaelocoversatil-2023/,
  title={VAE-Loco: Versatile Quadruped Locomotion by Learning a Disentangled Gait Representation},
  author={Mitchell AL, Merkt WX, Geisert M, Gangapurwala S, Engelcke M et al.},
  journal={IEEE Transactions on Robotics},
  pages={1-16},
  publisher={Institute of Electrical and Electronics Engineers (IEEE)},
  year = "2023"
}