Yorai Shaoul

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I like to jump, and I was (competitively) decent at it.

Hi hello!

I am Ph.D. Student at The Robotics Institute , Carnegie Mellon University. I am fortunate to be advised by Professor Maxim Likhachev , and Professor Jiaoyang Li . We currently work on planning and learning in multi-agent settings.

Previously, I was at MIT working in CSAIL at Nicholas Roy’s Robust Robotics Group , and I was fortunate to play with robots spend time at Indoor Robotics, Amazon Robotics, and Optimus Ride.

news

Dec 20, 2024
MMD Conveyor Animation
Excitingly, collaborators and I will be presenting our work at the AAAI 2025 Workshop on Multi-Agent Path Finding!
Nov 12, 2024 Collaborators and I just released two new videos.
  • A short introduction to our recent work on multi-robot motion planning with diffusion models.
  • Showcasing the xECBS algorithm. We briefly cover the algorithm and show real-robot demonstrations 🦾🤖.
Jul 15, 2024 I am reviewing for the International Workshop on the Algorithmic Foundations of Robotics (WAFR), IEEE Transactions on Robotics (T-RO), and the International Conference on Planning and Scheduling (ICAPS).
Apr 18, 2024 Our work on motion planning for teams of robot arms has won the Best Student Paper Award at ICAPS 2024! Exciting! 🤖 🎉 My collaborators and I are extremely grateful for this recognition.
Mar 26, 2024 Our paper Unconstraining Multi-Robot Manipulation: Enabling Arbitrary Constraints in ECBS with Bounded Sub-Optimality has been accepted to SoCS 2024!
Feb 12, 2024 Our paper Accelerating Search-Based Planning for Multi-Robot Manipulation by Leveraging Online-Generated Experiences has been accepted to ICAPS 2024!
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Apr 15, 2023 I am reviewing for IEEE Robotics and Automation Letters (RA-L).

Selected Publications

  1. mmd.gif
    Multi-Robot Motion Planning with Diffusion Models
    Yorai Shaoul*Itamar Mishani*, Shivam Vats*, Jiaoyang Li, and 1 more author
    Under review, currently an arXiv preprint arXiv:2410.03072, also at AAAI 2025 Workshop on Multi-Agent Path Finding, 2024
  2. mramp.gif
    Accelerating Search-Based Planning for Multi-Robot Manipulation by Leveraging Online-Generated Experiences
    Yorai Shaoul*Itamar Mishani*Maxim Likhachev, and Jiaoyang Li
    In 34th International Conference on Automated Planning and Scheduling, 2024
  3. gencbs.gif
    Unconstraining Multi-Robot Manipulation: Enabling Arbitrary Constraints in ECBS with Bounded Sub-Optimality
    Yorai Shaoul*, Rishi Veerapaneni*, Maxim Likhachev, and Jiaoyang Li
    In Proceedings of the International Symposium on Combinatorial Search, 2024