Publications

Journals

E. Gursoy, N. Mansard, “TriScore: Post-Hoc Out-of-Distribution Detection with Energy, Boundary Probes, and Transform Consistency,” Transactions on Machine Learning Research (TMLR), 2026.
E. Gursoy, S. Tarbouriech, A. Cherubini, “Can Robots Mold Soft Plastic Materials by Shaping Depth Images?” IEEE Transactions on Robotics (T-RO), 2023.

E. Gursoy, N. Mansard, “Sparse Sum-of-Squares Layers for Certified Learning,” Advances in Neural Information Processing Systems (NeurIPS), 2026.
Z. Xue, K. J. Yue, J. Qiu, Y. Cheng, E. Gursoy, J. Wang, V. Bonnet, H. Soh, “Control-Ready Uncertainty for Trajectory Diffusion,” Conference on Robot Learning (CoRL), 2026. ★ Spotlight (top 3.4%).
Z. Xue, K. J. Yue, J. Qiu, Y. Cheng, E. Gursoy, J. Wang, V. Bonnet, H. Soh, “Control-Ready Uncertainty for Trajectory Diffusion,” Robotics: Science and Systems (RSS) Diff4RL Workshop, 2026.
K. Wojciechowski, E. Gursoy, A. Haffemayer, S. Kleff, V. Bonnet, F. Lamiraux, N. Mansard, “Learning-Guided Force-Feedback Model Predictive Control with Obstacle Avoidance for Robotic Deburring,” IEEE International Conference on Robotics and Automation (ICRA), 2026.
E. Gursoy, D. Kulić, A. Cherubini, “Occlusion Handling by Pushing for Enhanced Fruit Detection,” IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024.
E. Gursoy, B. Navarro, A. Cosgun, D. Kulić, A. Cherubini, “Towards Vision-Based Dual Arm Robotic Fruit Harvesting,” IEEE International Conference on Automation Science and Engineering (CASE), 2023.
E. Gursoy, A. Cosgun, D. Kulić, A. Cherubini, “PICKBOT: Dual-arm Harvesting Robot,” IEEE International Conference on Robotics and Automation (ICRA) Agri Workshop, 2022.

T. O’Brien*, E. Gursoy*, M. Mujica, A. Donaire, “Policy-guided Sampling-based Predictive Control for Contact-Rich Manipulation,” Under Review, 2026.
E. Gursoy, V. Bonnet, N. Mansard, J. C. Santos, “Cost-Representation Robustness in Language-Guided Model Predictive Control,” Under Review, 2026.
E. Gursoy, N. Mansard, J. C. Santos, V. Bonnet, “VCC: Verified Constraint Compilation for Test-Time Refinement of Manipulation Priors,” Under Review, 2026.
E. Gursoy*, K. Wojciechowski*, M. Fourmy, A. Haffemayer, S. Kleff, V. Petrik, J. C. Santos, V. Bonnet, N. Mansard, “Force-Feedback Model Predictive Control with Diffusion Motion Priors for Contact-Rich Industrial Finishing Tasks,” Under Review, 2026.
E. Gursoy, M. Sabbah, A. Haffemayer, J. C. Santos, P. N. Crestaz, V. Petrik, N. Mansard, V. Bonnet, “COSMIK-MPPI: Scaling Constrained Model Predictive Control to Collision Avoidance in Close-Proximity Dynamic Human Environments,” Under Review, 2026.
E. Gursoy, R. Passama, A. Cherubini, “Dual-Arm Push-and-Reach Planning for Fruit Harvesting in Cluttered Environments,” Under Review, 2026.
E. Gursoy, A. Cosgun, D. Kulić, A. Cherubini, “Two Arms, One Goal: Reproducible Dual-Arm Robotic Fruit Harvesting,” Under Review, 2026.