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Hi! I am Utkarsh Mishra. I started my 4th year of PhD in Robotics at Georgia Tech with Dr. Yongxin Chen and Dr. Danfei Xu. My research lies at the intersection of generative methods, physical reasoning, and long-horizon planning for robotics. I focus on compositional diffusion-based approaches that generate long-horizon plans directly at inference from short-horizon data [GSC, GFC]. Recently, I've integrated search with compositional diffusion to scale inference, ensuring coherent long-horizon plans while maintaining short-horizon feasibility[CDGS]. My work has applications in robotic planning, panorama generation, and video diffusion models, and I'm particularly interested in exploring controllable video generation informed by physical reasoning and long-horizon planning.

I have completed internships with Large Behavior Model (LBM) team at TRI and Sony R&D US Labs. Before joining GaTech, I have worked with Prof. Matthew E. Taylor at the Inverse Reinforcement Learning lab, University of Alberta and Prof. Shishir Kolathaya at the Stochastic Robotics lab, Indian Institute of Science. Previously, I have collaborated with Prof. Auke Ijspeert and Dr. Dimitar Stanev at the Biorobotics Laboratory, EPFL. I have also worked on Cable Driven Robots with Dr. Stéphane Caro at CNRS-LS2N France.

Updates:

Generative Factor Chaining is accepted as CoRL24 poster. More details can be found here.
Generative Factor Chaining will be presented as a SPOTLIGHT talk in Back to the Future ICRA 2024 workshop!
Excited to spend my 2024 Summer at Toyota Research Institute as a ML/Robotics Research Intern.
Generative Factor Chaining won best paper award in Back to the Future ICRA 2024 workshop! Thanks to the organizers.
Generative Factor Chaining will be presented as a SPOTLIGHT talk in Back to the Future ICRA 2024 workshop!
ReorientDiff is accepted at ICRA 2024. See you in Yokohama! More details here.
Generative Skill Chaining is out on arxiv after 5 months "on hold": Arxiv: 2401.03360.
Attending CoRL'23. Gave a (SPOTLIGHT) talk at the LEAP workshop. Also presented posters at LEAP and TGR workshop.
Generative Skill Chaining is accepted as CoRL23 poster. More details can be found here.


PhD, Robotics Georgia Tech 2022 - Present	ML/Robotics Research Intern Toyota Research Institute Summer 2024	AI/ML Research Intern Sony R&D US Labs Summer 2023	BTech, ME IIT Roorkee 2017 - 2021

Selected Articles

Compositional Diffusion with Guided search for Long-Horizon Planning.

Utkarsh A. Mishra, David He, Yongxin Chen and Danfei Xu.

In submission.
Website Paper Code Video

Generative Factor Chaining: Coordinated Manipulation with Diffusion-based Factor Graph.

Utkarsh A. Mishra, Yongxin Chen and Danfei Xu.

Proceedings of CoRL 2024 (Poster).
Oral: ICRA 2024 Workshop — Back to the Future: Robot Learning Going Probabilistic
Oral: ICRA 2024 Workshop: A Future Roadmap for Sensorimotor Skill Learning for Robot Manipulation
Website Paper Code Video

Generative Skill Chaining: Long-Horizon Skill Planning with Diffusion Models.

Utkarsh A. Mishra, Shangjie Xue, Yongxin Chen and Danfei Xu.

Proceedings of CoRL 2023 (Poster).
Oral: CoRL 2023 Learning Effective Abstractions for Planning (LEAP) Workshop
Website Paper Code Video

ReorientDiff: Diffusion Model based Reorientation for Object Manipulation.

Utkarsh A. Mishra and Yongxin Chen.

ICRA 2024
Poster: RSS 2023 Learning for Task and Motion Planning Workshop
Website Paper Code Video

Learning Representations for Control over Pixels: What Matters and Why.

Manan Tomar*, Utkarsh A. Mishra*, Amy Zhang and Matthew E. Taylor.

Transactions in Machine Learning Research 2022.
Poster: Reinforcement Learning and Decision Making 2022.
Poster: Ecological RL workshop at NeurIPS 2021.
Website Paper Code Video

Dynamic Mirror Descent based Model Predictive Control for Accelerating Robot Learning.

Utkarsh A. Mishra*, Soumya R. Samineni*, Prakhar Goel, Chandravaran Kunjeti, Himanshu Lodha, Aman Singh, Aditya Sagi, Shalabh Bhatnagar and Shishir Kolathaya.

ICRA 2022.
Poster: 2nd Offline RL workshop at NeurIPS 2021.
Poster: Deep RL Workshop at NeurIPS 2021.
Website Paper Code Video