Gireesh Nandiraju

Hi there! I am a second year CS PhD student at Peking University advised by Prof. He Wang, and a student researcher at Galbot. My research is supported by Beijing Government Scholarship

Prior to PKU, I worked as a research assistant at IIIT Hyderabad, advised by Prof. K Madhava Krishna. Even before that, I did my undergrad at BITS Pilani in Electronics and Instrumentation.

I am always open to research collaborations! If you are working on the topics of contact-rich/ bimanual manipulation, feel free to contact me!

Email / CV / Google Scholar / Twitter / GitHub / WeChat

News

[Jan 2025] One paper accepted at ICRA 2025
[Sep 2024] Starting as a CS PhD student at EPIC Lab.
[Aug 2024] Honored to recieve the Beijing Government Scholarship
[Jan 2024] One paper accepted at ICRA 2024
[Jan 2023] One paper accepted at ICRA 2023

Research

My long-term research goal is to build humanoid robots capable of navigating and manipulating objects in household environments. I am currently focusing on learning sim-to-real transferable skills for contact-rich manipulation. Here is some of my work (representative papers are highlighted):

	MomaGraph: State-Aware Unified Scene Graphs with Vision-Language Model for Embodied Task Planning Yuanchen Ju, Yongyuan Liang, Yen-Jen Wang, Nandiraju Gireesh, Yuanliang Ju, Seungjae Lee, Qiao Gu, Elvis Hsieh, Furong Huang, Koushil Sreenath Under Review* Project Page / Paper
	HDFlow: Hierarchical Diffusion-Flow Planning for Long-horizon Robotic Assembly Nandiraju Gireesh, Yuanliang Ju, Chaoyi Xu, Weiheng Liu, Yuxuan Wan, He Wang Under Review EWM Workshop @ NeurIPS 2025 Project Page / Paper
	Watch Less, Feel More: Sim-to-Real RL for Generalizable Articulated Object Manipulation via Motion Adaptation and Impedance Control Tan-Dzung Do, Nandiraju Gireesh, Jilong Wang, He Wang ICRA 2025 LFDM Workshop @ CoRL 2024 MRM-D Workshop @ CoRL 2024 Project Page / Paper
	GAMMA: Graspability-Aware Mobile MAnipulation Policy Learning based on Online Grasping Pose Fusion Jiazhao Zhang, Nandiraju Gireesh, Jilong Wang, Xiaomeng Fang, Chaoyi Xu, Weiguang Chen, Liu Dai, He Wang ICRA 2024 Project Page / Paper / Code
	Sequence-Agnostic Multi-Object Navigation Nandiraju Gireesh, Ayush Agrawal, Ahana Datta, Snehasis Banerjee, Mohan Sridharan, Brojeshwar Bhowmick, Madhava Krishna ICRA 2023* Project Page / Paper
	Object Goal Navigation using Data Regularized Q-Learning Nandiraju Gireesh, D. A. Sasi Kiran, Snehasis Banerjee, Mohan Sridharan, Brojeshwar Bhowmick, Madhava Krishna CASE 2022 Project Page / Paper
	Spatial Relation Graph and Graph Convolutional Network for Object Goal Navigation D. A. Sasi Kiran, Kritika Anand, Chaitanya Kharyal, Gulshan Kumar, Nandiraju Gireesh, Snehasis Banerjee, Ruddra dev Roychoudhury, Mohan Sridharan, Brojeshwar Bhowmick, Madhava Krishna CASE 2022* Project Page / Paper
	SAC-ABR: Soft Actor-Critic based deep reinforcement learning for Adaptive BitRate streaming Mandan Naresh, Nandiraju Gireesh, Paresh Saxena, Manik Gupta COMSNETS 2022 Project Page / Paper
	XRayGAN: Consistency-preserving Generation of X-ray Images from Radiology Reports Xingyi Yang, Nandiraju Gireesh, Eric Xing, Pengtao Xie arXiv 2020 Project Page / Paper

Service

Reviewer: ICLR, ICRA, IROS, RA-L.

Website template from this repo and this webpage!