Julen Urain

Technical University of Darmstadt — Germany

Computer Science · Physical Sciences

7h-index311citations32works0.82yr avg
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Research Topics

Reinforcement Learning in Robotics(17), Robot Manipulation and Learning(14), Robotic Path Planning Algorithms(8), Robotic Mechanisms and Dynamics(5), Human Pose and Action Recognition(4)

Publications32 total

Dexterity from Smart Lenses: Multi-Fingered Robot Manipulation with In-the-Wild Human Demonstrations
arXiv (Cornell University)·2025Open Access
Global Tensor Motion Planning
IEEE Robotics and Automation Letters·2025· 2 cited
Noise-conditioned Energy-based Annealed Rewards (NEAR): A Generative Framework for Imitation Learning from Observation
arXiv (Cornell University)·2025Open Access
Learning
2025
Grasp Diffusion Network: Learning Grasp Generators from Partial Point Clouds with Diffusion Models in SO(3)xR3
arXiv (Cornell University)·2024· 2 citedOpen Access
Global Tensor Motion Planning
arXiv (Cornell University)·2024Open Access
ActionFlow: Equivariant, Accurate, and Efficient Policies with Spatially Symmetric Flow Matching
arXiv (Cornell University)·2024· 1 citedOpen Access
Deep Generative Models in Robotics: A Survey on Learning from Multimodal Demonstrations
arXiv (Cornell University)·2024· 1 citedOpen Access
Composable energy policies for reactive motion generation and reinforcement learning
The International Journal of Robotics Research·2023· 4 cited
SE(3)-DiffusionFields: Learning smooth cost functions for joint grasp and motion optimization through diffusion
2023· 84 cited
Hierarchical Policy Blending as Inference for Reactive Robot Control
2023· 7 cited
Learning Implicit Priors for Motion Optimization
2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)·2022· 20 cited
Hierarchical Policy Blending as Inference for Reactive Robot Control
arXiv (Cornell University)·2022Open Access
Learning Stable Vector Fields on Lie Groups
IEEE Robotics and Automation Letters·2022· 20 cited
SE(3)-DiffusionFields: Learning smooth cost functions for joint grasp and motion optimization through diffusion
arXiv (Cornell University)·2022· 3 citedOpen Access
Learning Implicit Priors for Motion Optimization
arXiv (Cornell University)·2022Open Access
A Hierarchical Approach to Active Pose Estimation
arXiv (Cornell University)·2022Open Access
Benchmarking Structured Policies and Policy Optimization for Real-World Dexterous Object Manipulation
IEEE Robotics and Automation Letters·2021· 4 citedOpen Access
Learning Stable Vector Fields on Lie Groups
arXiv (Cornell University)·2021Open Access
Real Robot Challenge: A Robotics Competition in the Cloud
arXiv (Cornell University)·2021· 2 citedOpen Access
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Frequent Co-authors

Jan Peters(22), Georgia Chalvatzaki(10), Niklas Funk(8), Joe Watson(7), Jan Peters(6), Davide Tateo(5), An T. Le(5), Charles Schaff(4), Rishabh Madan(4), Takuma Yoneda(4), Ethan Kroll Gordon(4), Felix Widmaier(4), Siddhartha S Srinivasa(4), Tapomayukh Bhattacharjee(4), Matthew R. Walter(4), Puze Liu(4), Anqi Li(4), Carlo D’Eramo(4), Kay Hansel(4), Stefan Bauer(3)