Isaac Ngui

I am a PhD student working with Dr. Nancy Amato on assistive robotics. My research focuses on exploring the sense of agency users feel while controlling robots. I joined the Parasol lab in 2020.

Recently, my work has been exploring the use of virtual and mixed reality to enable people to interact with robots.

My current work is exploring the development of hands-free, gaze and BCI, control interfaces for robot teleoperation. The objective of this research is to explore how to provide people with motor impairments with the ability and agency to perform everyday tasks.

Papers with Parasol Lab:

• Scalable Multi-robot Motion Planning via Hierarchical Subproblem Expansion and Workspace Decomposition Refinement

  by Isaac Ngui, Courtney McBeth, James D. Motes, Marco Morales, Nancy M. Amato
  May 2026

• ERUPT: An Open Toolkit for Interfacing with Robot Motion Planners in Extended Reality

  by Isaac Ngui, Courtney McBeth, André Santos, Grace He, Katherine J. Mimnaugh, James D. Motes, Luciano Soares, Marco Morales, Nancy M. Amato
  ArXiv Preprint, October 2025

• Lazy-DaSH: Lazy Approach for Hypergraph-based Multi-robot Task and Motion Planning

  by Seongwon Lee, James Motes, Isaac Ngui, Marco Morales, Nancy M. Amato
  ICRA@40, October 2024

• Extended Reality System for Robotic Learning from Human Demonstration

  by Isaac Ngui, Courtney McBeth, Grace He, Andre Correa Santos, Luciano Soares, Marco Morales, Nancy M. Amato
  ArXiv Preprint, September 2024

• Scalable Multi-Robot Motion Planning Using Guidance-Informed Hypergraphs

  by Courtney McBeth, James Motes, Isaac Ngui, Marco Morales, Nancy M. Amato
  ArXiv Preprint, June 2024

• A Hierarchical Approach to Workstation-based Task Allocation and Motion Planning

  by Isaac Ngui, Seongwon Lee, James Motes, Marco Morales, Nancy M. Amato
  IROS 2023, May 2024