research NeuralSVCD Efficient swept volume collision detection for robot motion. DEF-oriCORN 3D scene understanding for robust language-directed pick-and-place. Multi-Frequency SO(3) Features Feature representations for SO(3)-equivariant networks. Local Object Crop Collision Network Efficient simulation of non-convex objects in GPU-based simulators. Grasping as Inference Reactive grasping in heavily cluttered environments. Sim-to-Real Bolting Sim-to-real transfer for tight-tolerance robotic assembly.