Jonathan Francis

See full publication list on Google Scholar.

Selected Preprints

	STRIVE: Structured Representation Integrating VLM Reasoning for Efficient Object Navigation H. Zhu, Z. Li, Z. Liu, W. Wang, J. Zhang, J. Francis, J. Oh arXiv, 2025 paper website
	MOSAIC: Generating Consistent, Privacy-Preserving Scenes from Multiple Depth Views in Multi-Room Environments Z. Liu, H. Zhu, R. Chen, J. Francis, S. Hwang, J. Zhang, J. Oh arXiv, 2025 paper website
	KineSoft: Learning Proprioceptive Manipulation Policies with Soft Robot Hands U. Yoo, J. Francis, J. Oh, J. Ichnowski arXiv, 2025 paper website
	GRAPPA: Generalizing and Adapting Robot Policies via Online Agentic Guidance A. Bucker, P. Ortega-Kral, J. Francis, J. Oh arXiv, 2025 paper website
	GraphEQA: Using 3D Semantic Scene Graphs for Real-time Embodied Question Answering S. Saxena, B. Buchanan, C. Paxton, B. Chen, N. Vaskevicius, L. Palmieri, J. Francis, O. Kroemer arXiv, 2024 paper website
	SEAL: Towards Safe Autonomous Driving via Skill-Enabled Adversary Learning for Closed-Loop Scenario Generation B. Stoler, I. Navarro, J. Francis, J. Oh arXiv, 2024 paper code
	Toward general-purpose robots via foundation models: A survey and meta-analysis Y. Hu, Q. Xie, V. Jain, J. Francis, J. Patrikar, N. Keetha, S. Kim, Y. Xie, T. Zhang, H.-S. Fang, S. Zhao, S. Omidshafiei, D.-K. Kim, A.-a. Agha-mohammadi, K. Sycara, M. Johnson-Roberson, D. Batra, X. Wang, S. Scherer, C. Wang, Z. Kira, F. Xia, Y. Bisk arXiv*, 2023 paper repo

Selected Publications

	Your Learned Constraint is Secretly a Backward Reachable Tube M. Qadri, G. Swamy, J. Francis, M. Kaess, A. Bajcsy Reinforcement Learning Conference (RLC), 2025 paper
	Human2LocoMan: Learning Versatile Quadrupedal Manipulation with Human Pre-Training Y. Niu, Y. Zhang, M. Yu, C. Lin, C. Li, Y. Wang, Y. Yang, W. Yu, T. Zhang, B. Chen, J. Francis, Z. Li, J. Tan, D. Zhao Robotics: Science and Systems (RSS), 2025 paper website
	STRAP: Robot Sub-Trajectory Retrieval for Augmented Policy Learning M. Memmel, J. Berg, B. Chen, A. Gupta†, J. Francis† International Conference on Learning Representations (ICLR), 2025 paper arxiv website code
	CaDRE: Controllable and Diverse Generation of Safety-Critical Driving Scenarios using Real-World Trajectories P. Huang, W. Ding, B. Stoler, J. Francis, B. Chen, D. Zhao IEEE-RAS International Conference on Robotics and Automation (ICRA), 2025 paper
	RoPotter: Toward Robotic Pottery and Deformable Object Manipulation with Structural Priors U. Yoo, A. Hung, J. Francis, J. Oh, J. Ichnowski IEEE-RAS International Conference on Humanoid Robots (Humanoids), 2024 paper arxiv website
	SafeShift: Safety-Informed Distribution Shifts for Robust Trajectory Prediction in Autonomous Driving B. Stoler, I. Navarro, M. Jana, S. Hwang, J. Francis, J. Oh IEEE-ITS Intelligent Vehicles (IV), 2024 paper arxiv code
	Enhancing Vision-Language Models with Scene Graphs for Traffic Accident Understanding A. Lohner, F. Compagno, J. Francis, A. Oltramari IEEE International Automated Vehicle Validation Conference (IAVVC), 2024 paper arxiv
	Learning Unified Multi-Sensory Object Property Representations for Robot Learning via Interactive Perception G. Tatiya, J. Francis, H.-H. Wu, Y. Bisk, J. Sinapov IEEE-RAS International Conference on Robotics and Automation (ICRA), 2024 paper arxiv code
	What Went Wrong? Closing the Sim-to-Real Gap via Differentiable Causal Discovery P. Huang, X. Zhang, Z. Cao, S. Liu, M. Xu, W. Ding, J. Francis, B. Chen, D. Zhao Conference on Robot Learning (CoRL), 2023 paper arxiv website
	Transferring Implicit Knowledge of Non-Visual Object Properties Across Heterogeneous Robot Morphologies G. Tatiya, J. Francis, J. Sinapov IEEE-RAS International Conference on Robotics and Automation (ICRA), 2023 paper arxiv code
	Core Challenges in Embodied Vision-Language Planning J. Francis, N. Kitamura, F. Labelle, X. Lu, I. Navarro, J. Oh Journal of Artificial Intelligence Research (JAIR), 2022 paper arxiv
	Learn-to-Race: A Multimodal Control Environment for Autonomous Racing J. Herman, J. Francis, S. Ganju, B. Chen, A. Koul, A. Gupta, A. Skabelkin, I. Zhukov, M. Kumskoy, E. Nyberg IEEE/CVF International Conference on Computer Vision (ICCV), 2021 paper arxiv website code
	Diverse and Admissible Trajectory Forecasting through Multimodal Context Understanding S. H. Park, G. Lee, M. Bhat, J. Seo, M. Kang, J. Francis, A. R. Jadhav, P. P. Liang, L.-P. Morency CVF European Conference on Computer Vision (ECCV), 2020 paper arxiv code