52 citations · 204 across the 57 of their papers we have counts for
62 papers
Same Goal, Different Words: Spatial Instruction Sensitivity in World-Action Models
Ali-Adeeb Abbas, Esmaeil Seraj, Behrad Toghi +2
World-action models should preserve the intended manipulation across equivalent descriptions of a spatial goal. We evaluate this consistency in 864 rollouts from three models acros…
Factorized Tactile Representation and Control for Sim-to-Real Manipulation
Siqi Shang, Bianca Aumann, Tye Brady +2
Tactile sim-to-real learning must bridge simulated contact and device-specific sensor responses while preserving information needed for control. We propose a factorized tactile rep…
Universal Navigation Interface: Robot-Free Data for Wheeled Robot Navigation
Sarvesh Prajapati, Ananya Trivedi, Lorena Maria Genua +3
Collecting real-world navigation data for mobile robots typically requires platform-specific teleoperation, making large-scale collection expensive and difficult to scale. We intro…
Accelerating Optimization over Graphs of Convex Sets via Neural Network Approximations
Ananya Trivedi, Sarvesh Prajapati, Mohamed Khalid M Jaffar +3
Motion planning problems such as collision-free navigation and contact-rich manipulation can be naturally formulated as optimization problems that couple discrete decisions with co…
Layered Risk Mapping for Autonomous Patient Transport in Expeditionary Medical Facilities
Lorena Maria Genua, Sarvesh Prajapati, Damla Leblebicioglu +1
In expeditionary medical facilities, routine patient transport imposes a compounding burden of personal protective equipment consumption, staff diversion, and elevated infection ri…
Socially-Aware Autonomous Doorway Traversal and Payload Delivery for Emergency Assistance
Andrew Snowdy, Ananya Trivedi, Sarvesh Prajapati +2
In this work, we focus on the scenario of a robot-assisted emergency evacuation. We consider two capabilities relevant to such a setting. The first is opening doors ahead of the pe…
Just Keep Prompting: Evaluating Repetitive Socratic Prompting in VLMs
Shayda Moezzi, Bishoy Galoaa, Lorena Genua +2
Deploying Vision-Language Models (VLMs) in real-world settings requires not only strong visual reasoning but also stability under sustained conversational pressure. We introduce Ju…
TACTFUL: Tactile-Driven Exploration For Object Localization and Identification in Confined Environments
Shivani Kamtikar, Chung Hee Kim, Camilla Tabasso +3
Humans effortlessly locate and identify objects by touch alone, even without vision. In contrast, robotic systems rely heavily on vision and struggle with autonomous tactile explor…
JOIN: Anchor-Grasp-Conditioned Joining via Opposition, Inference, and Navigation for Bimanual Assistive Manipulation
Drake Moore, Matt Cheng, Xiang Zhi Tan +1
Assistive mobility and manipulation platforms have received increasing attention as a means of restoring independence to individuals with disabilities. While effective for many bas…
Grasp, Slide, Roll: Comparative Analysis of Contact Modes for Tactile-Based Shape Reconstruction
Chung Hee Kim, Shivani Kamtikar, Tye Brady +2
Tactile sensing allows robots to gather detailed geometric information about objects through physical interaction, complementing vision-based approaches. However, efficiently acqui…
Adaptive Time Step Flow Matching for Autonomous Driving Motion Planning
Ananya Trivedi, Anjian Li, Mohamed Elnoor +7
Autonomous driving requires reasoning about interactions with surrounding traffic. A prevailing approach is large-scale imitation learning on expert driving datasets, aimed at gene…
"Meet My Sidekick!": Effects of Separate Identities and Control of a Single Robot in HRI
Drake Moore, Arushi Aggarwal, Emily Taylor +3
The presentation of a robot's capability and identity directly influences a human collaborator's perception and implicit trust in the robot. Unlike humans, a physical robot can sim…
SCANS: A Soft Gripper with Curvature and Spectroscopy Sensors for In-Hand Material Differentiation
Nathaniel Hanson, Austin Allison, Charles DiMarzio +2
We introduce the soft curvature and spectroscopy (SCANS) system: a versatile, electronics-free, fluidically actuated soft manipulator capable of assessing the spectral properties o…
Field Calibration of Hyperspectral Cameras for Terrain Inference
Nathaniel Hanson, Benjamin Pyatski, Samuel Hibbard +5
Intra-class terrain differences such as water content directly influence a vehicle's ability to traverse terrain, yet RGB vision systems may fail to distinguish these properties. E…
Spectral Signature Mapping from RGB Imagery for Terrain-Aware Navigation
Sarvesh Prajapati, Ananya Trivedi, Nathaniel Hanson +2
Successful navigation in outdoor environments requires accurate prediction of the physical interactions between the robot and the terrain. Many prior methods rely on geometric or s…
VOTE: Vision-Language-Action Optimization with Trajectory Ensemble Voting
Juyi Lin, Amir Taherin, Arash Akbari +11
Recent large-scale Vision Language Action (VLA) models have shown superior performance in robotic manipulation tasks guided by natural language. However, current VLA models suffer…
Re4MPC: Reactive Nonlinear MPC for Multi-model Motion Planning via Deep Reinforcement Learning
Neşet Ünver Akmandor, Sarvesh Prajapati, Mark Zolotas +1
Traditional motion planning methods for robots with many degrees-of-freedom, such as mobile manipulators, are often computationally prohibitive for real-world settings. In this pap…
ViTa-Zero: Zero-shot Visuotactile Object 6D Pose Estimation
Hongyu Li, James Akl, Srinath Sridhar +2
Object 6D pose estimation is a critical challenge in robotics, particularly for manipulation tasks. While prior research combining visual and tactile (visuotactile) information has…
Use-Inspired Mobile Robot to Improve Safety of Building Retrofit Workforce in Constrained Spaces
Smruti Suresh, Michael Angelo Carvajal, Nathaniel Hanson +3
The inspection of confined critical infrastructure such as attics or crawlspaces is challenging for human operators due to insufficient task space, limited visibility, and the pres…
Forest Biomass Mapping with Terrestrial Hyperspectral Imaging for Wildfire Risk Monitoring
Nathaniel Hanson, Sarvesh Prajapati, James Tukpah +2
With the rapid increase in wildfires in the past decade, it has become necessary to detect and predict these disasters to mitigate losses to ecosystems and human lives. In this pap…
Chance-Constrained Convex MPC for Robust Quadruped Locomotion Under Parametric and Additive Uncertainties
Ananya Trivedi, Sarvesh Prajapati, Mark Zolotas +2
Recent advances in quadrupedal locomotion have focused on improving stability and performance across diverse environments. However, existing methods often lack adequate safety anal…
Data-Driven Sampling Based Stochastic MPC for Skid-Steer Mobile Robot Navigation
Ananya Trivedi, Sarvesh Prajapati, Anway Shirgaonkar +2
Traditional approaches to motion modeling for skid-steer robots struggle with capturing nonlinear tire-terrain dynamics, especially during high-speed maneuvers. In this paper, we t…
Predictive Mapping of Spectral Signatures from RGB Imagery for Off-Road Terrain Analysis
Sarvesh Prajapati, Ananya Trivedi, Bruce Maxwell +1
Accurate identification of complex terrain characteristics, such as soil composition and coefficient of friction, is essential for model-based planning and control of mobile robots…
Learning a Stable, Safe, Distributed Feedback Controller for a Heterogeneous Platoon of Autonomous Vehicles
Michael H. Shaham, Taskin Padir
Platooning of autonomous vehicles has the potential to increase safety and fuel efficiency on highways. The goal of platooning is to have each vehicle drive at a specified speed (s…