Publications

VisTacAlign: Co-Training Dexterous Policies on Tactile Human and Robot Demonstrations

Julien Poffet, Matthew Strong, Ankush Dhawan, Baiyu Shi, Shalika Neelaveni, Yujia Yuan, Zhenan Bao, Monroe Kennedy III

arXiv · September 2026

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Comparing Utility of Inertial, Occupancy, Semantic, and Intent Information in Human Motion Prediction During Daily Tasks

Max Burns, Maisha Khanum, Monroe Kennedy III, Steven H. Collins

arXiv · September 2026

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Learning Humanoid Navigation From Human Data

Weizhuo Wang, Yanjie Ze, C. Karen Liu, Monroe Kennedy III

IEEE Robotics and Automation Letters (RA-L) · July 2026

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TensorTouch: Calibration of Tactile Sensors for High Resolution Stress Tensor and Deformation for Dexterous Manipulation

Won Kyung Do, Matthew Strong, Aiden Swann, Boshu Lei, Monroe Kennedy III

IEEE Transactions on Robotics · April 2026

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Sparse Autoencoders Reveal Interpretable and Steerable Features in VLA Models

Aiden Swann, Lachlain McGranahan, Hugo Buurmeijer, Monroe Kennedy III, Mac Schwager

Accepted into CoRL 2026 · March 2026

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Locomotion Beyond Feet

Tae Hoon Yang, Haochen Shi, Jiacheng Hu, Zhicong Zhang, Daniel Jiang, Weizhuo Wang, Yao He, Zhen Wu, Yuming Chen, Yifan Hou, Monroe Kennedy III, Shuran Song, C. Karen Liu

arXiv · January 2026

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MR. CRABS: Mobile RGB-D Camera-LIDAR Robot for Autonomous Bimanual Manipulation & Sensing

Giuse Pham*, Matthew Strong*, Alex Qiu, Joonwon Kang, Monroe Kennedy III

ICRA 2026 Workshop on Act to Sense to Act Better · June 2026

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DOT-Sim: Differentiable Optical Tactile Simulation with Precise Real-to-Sim Physical Calibration

Yang You, Won Kyung Do, Aiden Swann, Rika Antonova, Monroe Kennedy, Leonidas Guibas

IEEE ICRA 2026 · May 2026

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Towards Accessible Robot Control: Comparing Kinesthetic Teaching, SpaceMouse Teleoperation, and a Mixed Reality Interface

Aliyah Smith, Monroe Kennedy III

arXiv · January 2026

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The Role of Consequential and Functional Sound in Human-Robot Interaction: Toward Audio Augmented Reality Interfaces

Aliyah Smith, Monroe Kennedy III

Arxiv · December 2025

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🍓 DexFruit: Dexterous Manipulation and Gaussian Splatting Inspection of Fruit

Aiden Swann*, Alex Qiu*, Matthew Strong, Angelina Zhang, Samuel Morstein, Kai Rayle, Monroe Kennedy III

IEEE Robotics and Automation Letters (RA-L) · December 2025

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Diffusion-SAFE: Shared Autonomy Framework with Diffusion for Safe Human-to-Robot Driving Handover

Yunxin Fan, Monroe Kennedy III

Arxiv · May 2025

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J-PARSE: Jacobian-based Projection Algorithm for Resolving Singularities Effectively in Inverse Kinematic Control of Serial Manipulators

Shivani Guptasarma, Matthew Strong, HongHao Zhen, Monroe Kennedy III

Arxiv · May 2025

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A Control Barrier Function for Safe Navigation with Online Gaussian Splatting Maps

Timothy Chen*, Aiden Swann*, Javier Yu*, Ola Shorinwa, Riku Murai, Monroe Kennedy III, Mac Schwager

International Conference on Robotics and Automation (ICRA) · May 2025

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Next Best Sense: Guiding Vision and Touch with FisherRF for 3D Gaussian Splatting

Matthew Strong*, Boshu Lei*, Aiden Swann, Wen Jiang, Kostas Daniilidis, Monroe Kennedy III

International Conference on Robotics and Automation (ICRA) · January 2025

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ProACT: An Augmented Reality Testbed for Intelligent Prosthetic Arms

Shivani Guptasarma, Monroe Kennedy III

IEEE Transactions on Neural Systems and Rehabilitation Engineering · January 2025

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Localization of Vibrotactile Stimuli on the Face

Shivani Guptasarma, Allison Okamura, Monroe Kennedy III

Arxiv · Febuary 2025

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Understanding and Imitating Human-Robot Motion with Restricted Visual Fields

Maulik Bhatt*, HongHao Zhen*, Monroe Kennedy III , Negar Mehr

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2025 · November 2025

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Dynamic Layer Detection of Thin Materials using DenseTact Optical Tactile Sensors

Ankush Kundan Dhawan*, Camille Chungyoun*, Karina Ting*, Monroe Kennedy III

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2025 · October 2025

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Facial Haptic Feedback for Robotic Prostheses

Shivani Guptasarma, Brian Vuong, Allison Okamura, Monroe Kennedy III

Converging Clinical and Engineering Research on Neurorehabilitation V · December 2024

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Touch-GS: Visual-Tactile Supervised 3D Gaussian Splatting

Aiden Swann*, Matthew Strong*, Won Kyung Do, Gadiel Sznaier Camps, Mac Schwager, Monroe Kennedy III

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · October 2024

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Splat-MOVER: Multi-Stage, Open-Vocabulary Robotic Manipulation via Editable Gaussian Splatting

Ola Shorinwa*, Johnathan Tucker*, Aliyah Smith, Aiden Swann, Timothy Chen, Roya Firoozi, Monroe Kennedy III, Mac Schwager

CoRL · September 2024

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DenseTact-Mini: An Optical Tactile Sensor for Grasping Multi-Scale Objects From Flat Surfaces

Won Kyung Do, Ankush Dhawan, Mathilda Kitzmann, Monroe Kennedy III

International Conference on Robotics and Automation (ICRA) · May 2024

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Embedded Object Detection and Mapping in Soft Materials Using Optical Tactile Sensing

Jose A. Solano-Castellanos, Won Kyung Do , Monroe Kennedy III

SN Computer Science · March 2024

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EgoNav: Egocentric Scene-aware Human Trajectory Prediction

Weizhuo Wang, C. Karen Liu, Monroe Kennedy III

arXiv · March 2024

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Inter-finger Small Object Manipulation With DenseTact Optical Tactile Sensor

Won Kyung Do, Bianca Aumann, Camille Chungyoun, Monroe Kennedy III

IEEE Robotics and Automation Letters · November 2023

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The role of collaborative robotics in assistive and rehabilitation applications

Monroe Kennedy III

Science Robotics · October 2023

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Diffusion Co-Policy for Synergistic Human-Robot Collaborative Tasks

Eley Ng, Ziang Liu, Monroe Kennedy III

IEEE Robotics and Automation Letters · November 2023

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Considerations for the Control Design of Augmentative Robots

Shivani Guptasarma, Monroe Kennedy III

arXiv · October 2023

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It Takes Two: Learning to Plan for Human-Robot Cooperative Carrying

Eley Ng, Ziang Liu, Monroe Kennedy III

2023 IEEE International Conference on Robotics and Automation (ICRA) · May 2023

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Trajectory and Sway Prediction Towards Fall Prevention

Weizhuo Wang, Michael Raitor, Steve Collins, C. Karen Liu, Monroe Kennedy III

2023 IEEE International Conference on Robotics and Automation (ICRA) · May 2023

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DenseTact 2.0: Optical Tactile Sensor for Shape and Force Reconstruction

Won Kyung Do, Bianca Jurewicz, Monroe Kennedy III

2023 IEEE International Conference on Robotics and Automation (ICRA) · May 2023

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DenseTact: Optical Tactile Sensor for Dense Shape Reconstruction

Won Kyung Do, Monroe Kennedy III

International Conference on Robotics and Automation (ICRA) · May 2022

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Replay Overshooting: Learning Stochastic Latent Dynamics with the Extended Kalman Filter

Albert Li*, Philipp Wu*, Monroe Kennedy III

2021 IEEE International Conference on Robotics and Automation (ICRA) · May 2021

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Recent Development in Human Motion and Gait Prediction

Junwu Zhang, Monroe Kennedy III

RSS 2020 Workshop RobRetro · June 2020

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Modeling And Control For Robotic Assistants: Single And Multi-Robot Manipulation

Monroe Kennedy III

University of Pennsylvania · May 2019

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