Ali Golestaneh

Publications

Publications

Papers and preprints in robotics planning, learning, manipulation, and legged systems. Ali’s name is highlighted in each author list.

Figure 1 from MetaPusher showing the four-step method overview for adapting and planning pushesFigure 1
arXiv preprint2026Preprint

MetaPusher: Meta Learning and Planning for Nonprehensile Manipulation of Unseen Objects with Rapid Online Adaption

Donghyung Lee, Seyedali Golestaneh, Jaskrit Singh, Zhuoyun Zhong, Athanasios Kapoutsis, Constantinos Chamzas

Combines a meta-learned object-dynamics model with online adaptation and kinodynamic planning for pushing unseen objects.

arXiv
BibTeX
@article{lee2026metapusher,
  title={MetaPusher: Meta Learning and Planning for Nonprehensile Manipulation of Unseen Objects with Rapid Online Adaption},
  author={Lee, Donghyung and Golestaneh, Seyedali and Singh, Jaskrit and Zhong, Zhuoyun and Kapoutsis, Athanasios and Chamzas, Constantinos},
  journal={arXiv preprint arXiv:2609.21122},
  year={2026}
}
Figure 1 from AURA illustrating a robot pushing an object, an execution deviation, and replanned pathsFigure 1
IEEE Robotics and Automation Letters2026Accepted · Sep 2026

AURA: Asymptotically Optimal Uncertainty-Robust Replanning Algorithm for Kinodynamic Systems

Seyedali Golestaneh, Zhuoyun Zhong, Donghyung Lee, Constantinos Chamzas

An online meta-planner continues global search and prepares recovery controls while a robot executes under motion uncertainty.

PaperarXivCode
BibTeX
@article{golestaneh2026aura,
  title={AURA: Asymptotically Optimal Uncertainty-Robust Replanning Algorithm for Kinodynamic Systems},
  author={Golestaneh, Seyedali and Zhong, Zhuoyun and Lee, Donghyung and Chamzas, Constantinos},
  journal={IEEE Robotics and Automation Letters},
  year={2026}
}
Figure 1 from Terminal Matters (KiTe), showing planar pushing and car-parking examplesFigure 1
arXiv preprint2026Preprint · KiTe

Terminal Matters: Kinodynamic Planning with a Terminal Cost and Learned Uncertainty in Belief State-Cost Space

Zhuoyun Zhong, Seyedali Golestaneh, Constantinos Chamzas

Adds terminal-state objectives and learned uncertainty to kinodynamic planning, including belief-space goal preferences.

arXivCode
BibTeX
@article{zhong2026terminal,
  title={Terminal Matters: Kinodynamic Planning with a Terminal Cost and Learned Uncertainty in Belief State-Cost Space},
  author={Zhong, Zhuoyun and Golestaneh, Seyedali and Chamzas, Constantinos},
  journal={arXiv preprint arXiv:2605.09046},
  year={2026}
}
Figure 1 from ActivePusher introducing active learning and planning skills for nonprehensile manipulationFigure 1
IEEE International Conference on Robotics and Automation (ICRA)2026Best Student Paper Award

ActivePusher: Active Learning and Planning with Residual Physics for Nonprehensile Manipulation

Zhuoyun Zhong, Seyedali Golestaneh, Constantinos Chamzas

Combines residual-physics dynamics, uncertainty-aware active learning, and kinodynamic planning for planar pushing.

arXivCodeVideo
BibTeX
@inproceedings{zhong2026activepusher,
  title={ActivePusher: Active Learning and Planning with Residual Physics for Nonprehensile Manipulation},
  author={Zhong, Zhuoyun and Golestaneh, Seyedali and Chamzas, Constantinos},
  booktitle={2026 IEEE International Conference on Robotics and Automation (ICRA)},
  year={2026}
}
IEEE Access, vol. 13, pp. 49018–490292025Journal article

Robust and Efficient Phase Estimation in Legged Robots via Signal Imaging and Deep Neural Networks

Kamyab Yazdipaz, Nooshin Kohli, Seyed Ali Golestaneh, Mohammad Shahbazi

Uses signal-image representations and neural networks to estimate leg phase from proprioceptive measurements.

DOI
BibTeX
@article{yazdipaz2025phase,
  title={Robust and Efficient Phase Estimation in Legged Robots via Signal Imaging and Deep Neural Networks},
  author={Yazdipaz, Kamyab and Kohli, Nooshin and Golestaneh, Seyed Ali and Shahbazi, Mohammad},
  journal={IEEE Access},
  volume={13},
  pages={49018--49029},
  year={2025},
  doi={10.1109/ACCESS.2025.3549165}
}