Research

2026

  1. ProprioTrack3R: 3D Point Tracking with Humanoid Proprioception
    Coming soon

    Tracking 3D object motion through humanoid proprioception, even when objects are occluded or out of view.

2025

  1.
    GrndCtrl: Grounding World Models via Self-Supervised Reward Alignment
    Haoyang He, Jay Patrikar, Dong-Ki Kim, Max Smith, Daniel McGann, Ali-akbar Agha-mohammadi, Shayegan Omidshafiei, and Sebastian Scherer
    IROS 2026

    Bridge generative pretraining of World Models and grounded behavior with verifiable rewards, improving counterfactual generation.

    arXiv Website
  2. RayFronts: Open-Set Semantic Ray Frontiers for Online Scene Understanding and Exploration
    Omar Alama, Avigyan Bhattacharya, Haoyang He, Seungchan Kim, Yuheng Qiu, Wenshan Wang, Cherie Ho, Nikhil Keetha, and Sebastian Scherer
    IROS 2025

    Real-time semantic mapping system that enables fine-grained scene understanding within and beyond the depth perception range.

    arXiv Video Website