publications

2026

1. IROS

   StratMamba: Strategic and Reactive Stream Partitioning for Path-Efficient LiDAR-Based Obstacle Avoidance

   Hung-Chieh Wu , Xiaopan Zhang, Kasra Sinaei , Ryan Abnavi , Kasun Weerakoon , Christopher Bradley , Seyed Fakoorian , Jiachen Li , and Donald Ebeigbe

   In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , 2026

   Accepted, to appear

   arXiv Bib PDF Website

   @inproceedings{wu2026stratmamba,
     title = {StratMamba: Strategic and Reactive Stream Partitioning for Path-Efficient LiDAR-Based Obstacle Avoidance},
     author = {Wu, Hung-Chieh and Zhang, Xiaopan and Sinaei, Kasra and Abnavi, Ryan and Weerakoon, Kasun and Bradley, Christopher and Fakoorian, Seyed and Li, Jiachen and Ebeigbe, Donald},
     booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
     year = {2026},
     note = {Accepted, to appear},
     url = {https://arxiv.org/abs/2607.12370},
   }

2. ICRA

   CommCP: Efficient Multi-Agent Coordination via LLM-Based Communication with Conformal Prediction

   Xiaopan Zhang*, Zejin Wang* , Zhixu Li , Jianpeng Yao , and Jiachen Li

   In 2026 IEEE International Conference on Robotics and Automation (ICRA) , 2026

   * Equal contribution

   arXiv Bib HTML PDF Code Website

   @inproceedings{zhang2026commcp,
     title = {CommCP: Efficient Multi-Agent Coordination via LLM-Based Communication with Conformal Prediction},
     author = {Zhang*, Xiaopan and Wang*, Zejin and Li, Zhixu and Yao, Jianpeng and Li, Jiachen},
     booktitle = {2026 IEEE International Conference on Robotics and Automation (ICRA)},
     year = {2026},
     pages = {8613--8620},
     organization = {IEEE},
     doi = {10.1109/ICRA57385.2026.11696967},
     url = {https://ieeexplore.ieee.org/document/11696967},
     note = {* Equal contribution}
   }

3. ICRA

   GUIDES: Guidance Using Instructor-Distilled Embeddings for Pre-Trained Robot Policy Enhancement

   Minquan Gao , Xinyi Li , Qing Yan , Xiaojian Sun , Xiaopan Zhang, Chien-Ming Huang , and Jiachen Li

   In 2026 IEEE International Conference on Robotics and Automation (ICRA) , 2026

   arXiv Bib HTML PDF

   @inproceedings{gao2026guides,
     title = {GUIDES: Guidance Using Instructor-Distilled Embeddings for Pre-Trained Robot Policy Enhancement},
     author = {Gao, Minquan and Li, Xinyi and Yan, Qing and Sun, Xiaojian and Zhang, Xiaopan and Huang, Chien-Ming and Li, Jiachen},
     booktitle = {2026 IEEE International Conference on Robotics and Automation (ICRA)},
     year = {2026},
     pages = {14679--14686},
     organization = {IEEE},
     doi = {10.1109/ICRA57385.2026.11697343},
     url = {https://ieeexplore.ieee.org/document/11697343},
   }

2025

1. ICRA

   LaMMA-P: Generalizable Multi-Agent Long-Horizon Task Allocation and Planning with LM-Driven PDDL Planner

   Xiaopan Zhang*, Hao Qin* , Fuquan Wang , Yue Dong , and Jiachen Li

   In 2025 IEEE International Conference on Robotics and Automation (ICRA) , 2025

   * Equal contribution

   arXiv Bib HTML PDF Code Website

   @inproceedings{zhang2025lamma,
     title = {LaMMA-P: Generalizable Multi-Agent Long-Horizon Task Allocation and Planning with LM-Driven PDDL Planner},
     author = {Zhang*, Xiaopan and Qin*, Hao and Wang, Fuquan and Dong, Yue and Li, Jiachen},
     booktitle = {2025 IEEE International Conference on Robotics and Automation (ICRA)},
     year = {2025},
     organization = {IEEE},
     doi = {10.1109/ICRA55743.2025.11127951},
     url = {https://ieeexplore.ieee.org/document/11127951},
     note = {* Equal contribution}
   }

2. CoRL

   Towards Generalizable Safety in Crowd Navigation via Conformal Uncertainty Handling

   Jianpeng Yao , Xiaopan Zhang*, Yu Xia* , Zejin Wang , Amit Roy-Chowdhury , and Jiachen Li

   In Proceedings of The 9th Conference on Robot Learning , 2025

   * Equal contribution

   arXiv Bib HTML PDF Code Website

   @inproceedings{yaotowards,
     title = {Towards Generalizable Safety in Crowd Navigation via Conformal Uncertainty Handling},
     author = {Yao, Jianpeng and Zhang*, Xiaopan and Xia*, Yu and Wang, Zejin and Roy-Chowdhury, Amit and Li, Jiachen},
     booktitle = {Proceedings of The 9th Conference on Robot Learning},
     year = {2025},
     volume = {305},
     series = {Proceedings of Machine Learning Research},
     pages = {4206--4225},
     publisher = {PMLR},
     url = {https://proceedings.mlr.press/v305/yao25a.html},
     note = {* Equal contribution}
   }

3. EMNLP Findings

   HEAL: An Empirical Study on Hallucinations in Embodied Agents Driven by Large Language Models

   Trishna Chakraborty , Udita Ghosh , Xiaopan Zhang, Fahim Faisal Niloy , Yue Dong , Jiachen Li , Amit Roy-Chowdhury , and Chengyu Song

   In Findings of the Association for Computational Linguistics: EMNLP 2025 , 2025

   arXiv Bib HTML PDF

   @inproceedings{chakraborty2025heal,
     title = {HEAL: An Empirical Study on Hallucinations in Embodied Agents Driven by Large Language Models},
     author = {Chakraborty, Trishna and Ghosh, Udita and Zhang, Xiaopan and Niloy, Fahim Faisal and Dong, Yue and Li, Jiachen and Roy-Chowdhury, Amit and Song, Chengyu},
     booktitle = {Findings of the Association for Computational Linguistics: EMNLP 2025},
     year = {2025},
     pages = {21226--21243},
     publisher = {Association for Computational Linguistics},
     doi = {10.18653/v1/2025.findings-emnlp.1158},
     url = {https://aclanthology.org/2025.findings-emnlp.1158/},
   }

2024

1. ASME

   Enhancing Efficiency of Human Pickers in Strawberry Harvesting With Quadruped Robots

   Yiyu Chen , Shengqiang Chen , Xiaopan Zhang, Dario Racano , Stavros G. Vougioukas , Quan Nguyen , and Satyandra K. Gupta

   In ASME 2024 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference , 2024

   Bib HTML

   @inproceedings{10.1115/DETC2024-145753,
     title = {Enhancing Efficiency of Human Pickers in Strawberry Harvesting With Quadruped Robots},
     author = {Chen, Yiyu and Chen, Shengqiang and Zhang, Xiaopan and Racano, Dario and Vougioukas, Stavros G. and Nguyen, Quan and Gupta, Satyandra K.},
     booktitle = {ASME 2024 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference},
     volume = {7: 48th Mechanisms and Robotics Conference (MR)},
     pages = {V007T07A045},
     year = {2024},
     publisher = {American Society of Mechanical Engineers},
     doi = {10.1115/DETC2024-145753},
     url = {https://asmedigitalcollection.asme.org/IDETC-CIE/proceedings/IDETC-CIE2024/88414/V007T07A045/1209061},
   }

2. 

   Accounting for Travel Time and Arrival Time Coordination During Task Allocations in Legged-Robot Teams

   Shengqiang Chen , Yiyu Chen , Ronak Jain , Xiaopan Zhang, Quan Nguyen , and Satyandra K. Gupta

   In 2024 IEEE International Conference on Robotics and Automation (ICRA) , 2024

   Bib HTML

   @inproceedings{chen2024robotteams,
     title = {Accounting for Travel Time and Arrival Time Coordination During Task Allocations in Legged-Robot Teams},
     author = {Chen, Shengqiang and Chen, Yiyu and Jain, Ronak and Zhang, Xiaopan and Nguyen, Quan and Gupta, Satyandra K.},
     booktitle = {2024 IEEE International Conference on Robotics and Automation (ICRA)},
     year = {2024},
     pages = {16588--16594},
     organization = {IEEE},
     doi = {10.1109/ICRA57147.2024.10610869},
     url = {https://ieeexplore.ieee.org/document/10610869},
   }