Jonathan Francis

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Publications (43)

• APEX: Learning Adaptive High-Platform Traversal for Humanoid Robots
  arXiv preprint arXiv:2602.11143 2026
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• GRAPPA: Generalizing and Adapting Robot Policies via Online Agentic Guidance
  IEEE Robotics and Automation Letters 2026
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• Learning Versatile Humanoid Manipulation with Touch Dreaming
  arXiv preprint arXiv:2604.13015 2026
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• SOFTMAP: Sim2Real Soft Robot Forward Modeling via Topological Mesh Alignment and Physics Prior
  arXiv preprint arXiv:2603.19384 2026
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• GRAPPA: Generalizing and Adapting Robot Policies via Online Agentic Guidance
  IEEE Robotics and Automation Letters 2026 DOI: 10.1109/LRA.2026.3664527
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• LightTact: A Visual-Tactile Fingertip Sensor for Deformation-Independent Contact Sensing
  arXiv preprint arXiv:2512.20591 2025
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• Your Learned Constraint is Secretly a Backward Reachable Tube
  Reinforcement Learning Conference 2025
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• Visuo-Acoustic Hand Pose and Contact Estimation
  arXiv preprint arXiv:2508.00852 2025
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• Seal: Towards safe autonomous driving via skill-enabled adversary learning for closed-loop scenario generation
  IEEE Robotics and Automation Letters 2025
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• STRIVE: Structured Representation Integrating VLM Reasoning for Efficient Object Navigation
  2025
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