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Anuj Pasricha

6 accepted papers

2026

Moving On, Even When You’re Broken: Fail-Active Trajectory Generation Via Diffusion Policies Conditioned on Embodiment and Task

Gilberto Briscoe-Martinez, Yaashia Gautam, Rahul Shetty, Anuj Pasricha, Marco Nicotra, Alessandro Roncone
ICRA 2026poster

Robot failure is detrimental and disruptive, often requiring human intervention to recover. Our vision is 'fail-active' operation, allowing robots to safely complete their tasks even when damaged. Focusing on 'actuation failures', we introduce DEFT, a diffusion-based trajectory generator conditioned…

Cited by 0Scholar ↗
2025

Dynamics-Compliant Trajectory Diffusion for Super-Nominal Payload Manipulation

Anuj Pasricha, Joewie J. Koh, Jay Vakil, Alessandro Roncone
CoRL 2025poster

Nominal payload ratings for articulated robots are typically derived from worst-case configurations, resulting in uniform payload constraints across the entire workspace. This conservative approach severely underutilizes the robot's inherent capabilities---our analysis demonstrates that manipulators…

Cited by 0Source ↗Scholar ↗
2024

Clutter-Aware Spill-Free Liquid Transport via Learned Dynamics

Ava Abderezaei, Anuj Pasricha, Alex Klausenstock, Alessandro Roncone
IROS 2024poster

In this work, we present a novel algorithm to perform spill-free handling of open-top liquid-filled containers that operates in cluttered environments. By allowing liquid-filled containers to be tilted at higher angles and enabling motion along all axes of end-effector orientation, our work extends…

Cited by 0Source ↗Scholar ↗
2024

Exploring How Non-Prehensile Manipulation Expands Capability in Robots Experiencing Multi-Joint Failure

Gilberto Briscoe-Martinez, Anuj Pasricha, Ava Abderezaei, Santosh Chaganti, Sarath Chandra Vajrala, Sri Kanth Popuri +1
IROS 2024poster

This work explores non-prehensile manipulation (NPM) and whole-body interaction as strategies for enabling robotic manipulators to conduct manipulation tasks despite experiencing locked multi-joint (LMJ) failures. LMJs are critical system faults where two or more joints become inoperable; they impos…

Cited by 0Source ↗Scholar ↗
2022

PokeRRT: Poking as a Skill and Failure Recovery Tactic for Planar Non-Prehensile Manipulation

Anuj Pasricha, Yi-Shiuan Tung, Bradley Hayes, Alessandro Roncone
RA-L 2022

In this work, we introduce <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">PokeRRT</i> , a novel motion planning algorithm that demonstrates poking as an effective non-prehensile manipulation skill to enable fast manipulation of objects and increase

Cited by 15Source ↗Scholar ↗