| 2025 | IROS | Towards Zero-Knowledge Task Planning via a Language-based Approach. | Liam Merz Hoffmeister, Brian Scassellati, Daniel Rakita |
| 2025 | IROS | ad-trait: A Fast and Flexible Automatic Differentiation Library in Rust. | Chen Liang, Qian Wang, Andy Xu, Daniel Rakita |
| 2024 | IROS | Sequential Discrete Action Selection via Blocking Conditions and Resolutions. | Liam Merz Hoffmeister, Brian Scassellati, Daniel Rakita |
| 2023 | HRI | Lively: Enabling Multimodal, Lifelike, and Extensible Real-time Robot Motion. | Andrew J. Schoen, Dakota Sullivan, Ze Dong Zhang, Daniel Rakita, Bilge Mutlu |
| 2023 | ICRA | An Analysis of Unified Manipulation with Robot Arms and Dexterous Hands via Optimization-based Motion Synthesis. | Vatsal V. Patel, Daniel Rakita, Aaron M. Dollar |
| 2023 | ICRA | RangedIK: An Optimization-based Robot Motion Generation Method for Ranged-Goal Tasks. | Yeping Wang, Pragathi Praveena, Daniel Rakita, Michael Gleicher |
| 2021 | ICRA | Strobe: An Acceleration Meta-algorithm for Optimizing Robot Paths using Concurrent Interleaved Sub-Epoch Pods. | Daniel Rakita, Bilge Mutlu, Michael Gleicher |
| 2021 | ICRA | CollisionIK: A Per-Instant Pose Optimization Method for Generating Robot Motions with Environment Collision Avoidance. | Daniel Rakita, Haochen Shi, Bilge Mutlu, Michael Gleicher |
| 2020 | HRI | Supporting Perception of Weight through Motion-induced Sensory Conflicts in Robot Teleoperation. | Pragathi Praveena, Daniel Rakita, Bilge Mutlu, Michael Gleicher |
| 2020 | HRI | Effects of Onset Latency and Robot Speed Delays on Mimicry-Control Teleoperation. | Daniel Rakita, Bilge Mutlu, Michael Gleicher |
| 2019 | ICRA | User-Guided Offline Synthesis of Robot Arm Motion from 6-DoF Paths. | Pragathi Praveena, Daniel Rakita, Bilge Mutlu, Michael Gleicher |
| 2019 | ICRA | STAMPEDE: A Discrete-Optimization Method for Solving Pathwise-Inverse Kinematics. | Daniel Rakita, Bilge Mutlu, Michael Gleicher |
| 2018 | HRI | An Autonomous Dynamic Camera Method for Effective Remote Teleoperation. | Daniel Rakita, Bilge Mutlu, Michael Gleicher |
| 2018 | HRI | Shared Dynamic Curves: A Shared-Control Telemanipulation Method for Motor Task Training. | Daniel Rakita, Bilge Mutlu, Michael Gleicher, Laura M. Hiatt |
| 2017 | HRI | Methods for Effective Mimicry-based Teleoperation of Robot Arms. | Daniel Rakita |
| 2017 | HRI | A Motion Retargeting Method for Effective Mimicry-based Teleoperation of Robot Arms. | Daniel Rakita, Bilge Mutlu, Michael Gleicher |
| 2017 | IROS | Recognizing actions during tactile manipulations through force sensing. | Guru Subramani, Daniel Rakita, Hongyi Wang, Jordan Black, Michael R. Zinn, Michael Gleicher |
| 2017 | RO-MAN | Understanding human-robot interaction in virtual reality. | Oliver Liu, Daniel Rakita, Bilge Mutlu, Michael Gleicher |
| 2016 | RO-MAN | Evaluating intent-expressive robot arm motion. | Christopher Bodden, Daniel Rakita, Bilge Mutlu, Michael Gleicher |
| 2016 | RO-MAN | Motion synopsis for robot arm trajectories. | Daniel Rakita, Bilge Mutlu, Michael Gleicher |
| 2015 | SIGGRAPH | Inferring gaze shifts from captured body motion. | Daniel Rakita, Tomislav Pejsa, Bilge Mutlu, Michael Gleicher |