James Akl

Publications

Selected papers

Co-authored papers; † marks first author.

Robot learning and perception

• Detecting novel objects by watching human videos
  Preprint (arXiv) 2026 · blog post
• ViTa-Zero: Zero-shot visuotactile object 6D pose estimation
  ICRA 2025
• ZeroWaste dataset: Towards deformable object segmentation in cluttered scenes
  CVPR 2022
• VisDA 2022 challenge: Domain adaptation for industrial waste sorting
  NeurIPS 2022 Competition Track
• ECNNs: Ensemble learning methods for improving planar grasp quality estimation
  ICRA 2021

Autonomous metal cutting

• Vision-based oxy-fuel torch control for robotic metal cutting^†
  IROS 2023
• Cut sequencing algorithm for safely disassembling large structures^†
  CDC 2023
• Feature-driven next view planning for cutting path generation in robotic metal scrap recycling^†
  IEEE T-ASE 2023
• CNN-based task state estimation for safer automation of oxy-fuel metal cutting^†
  CASE 2023
• Towards robotic metal scrap cutting: A novel workflow and pipeline for cutting path generation^†
  CASE 2021

Mathematical modeling and mechanics

• Comparing & optimizing analytical, numerical & experimental vibration models for a simply-supported ribbed plate^†
  Structures 2020
• Simplified setup for the vibration study of plates with simply-supported boundary conditions
  MethodsX 2019
• Ionic buoyancy engines: Finite element modeling & experimental validation^†
  SPIE EAPAD 2019

Patents

• Salvage metal cutting robot
  US 12,377,565 B2 · issued 2025
• Autonomous robotic cutting system
  US 2024/0123624 A1 · filed 2023
• Feature-driven next view planning of 3-dimensional surfaces
  US 2023/0288914 A1 · filed 2023

Dissertation

• Robot autonomy for scrap cutting in metal recycling
  PhD dissertation · WPI · 2023