4 citations · 6 across the 12 of their papers we have counts for
14 papers
Whole-Body Dexterity
Conor Mc Gartoll, An Dang, Pranay Thangeda +5
Current humanoid dexterous manipulation remains largely confined to end-effectors and simple grasps, falling short of humans' ability to engage the entire body by bracing and slidi…
Trajectory-Level Redirection Attacks on Vision-Language-Action Models
Gokul Puthumanaillam, Vardhan Dongre, Pranay Thangeda +3
Vision-language-action (VLA) policies bring natural language into closed-loop robot control, enabling robots to execute manipulation tasks directly from text instructions. The same…
TRACE: A Self-Improving Framework for Robot Behavior Forecasting with Vision-Language Models
Gokul Puthumanaillam, Paulo Padrao, Jose Fuentes +6
Predicting the near-term behavior of a reactive agent is crucial in many robotic scenarios, yet remains challenging when observations of that agent are sparse or intermittent. Visi…
Autonomous Excavation of Challenging Terrain using Oscillatory Primitives and Adaptive Impedance Control
Noah Franceschini, Pranay Thangeda, Melkior Ornik +1
This paper addresses the challenge of autonomous excavation of challenging terrains, in particular those that are prone to jamming and inter-particle adhesion when tackled by a sta…
InfraLib: Enabling Reinforcement Learning and Decision-Making for Large-Scale Infrastructure Management
Pranay Thangeda, Trevor S. Betz, Michael N. Grussing +1
Efficient management of infrastructure systems is crucial for economic stability, sustainability, and public safety. However, infrastructure sustainment is challenging due to the v…
Learning to Turn: Diffusion Imitation for Robust Row Turning in Under-Canopy Robots
Arun N. Sivakumar, Pranay Thangeda, Yixiao Fang +4
Under-canopy agricultural robots require robust navigation capabilities to enable full autonomy but struggle with tight row turning between crop rows due to degraded GPS reception,…
Few-shot Scooping Under Domain Shift via Simulated Maximal Deployment Gaps
Yifan Zhu, Pranay Thangeda, Erica L Tevere +5
Autonomous lander missions on extraterrestrial bodies need to sample granular materials while coping with domain shifts, even when sampling strategies are extensively tuned on Eart…
Optimizing Agricultural Order Fulfillment Systems: A Hybrid Tree Search Approach
Pranay Thangeda, Hoda Helmi, Melkior Ornik
Efficient order fulfillment is vital in the agricultural industry, particularly due to the seasonal nature of seed supply chains. This paper addresses the challenge of optimizing s…
A Moral Imperative: The Need for Continual Superalignment of Large Language Models
Gokul Puthumanaillam, Manav Vora, Pranay Thangeda +1
This paper examines the challenges associated with achieving life-long superalignment in AI systems, particularly large language models (LLMs). Superalignment is a theoretical fram…
Learning and Autonomy for Extraterrestrial Terrain Sampling: An Experience Report from OWLAT Deployment
Pranay Thangeda, Ashish Goel, Erica Tevere +6
Extraterrestrial autonomous lander missions increasingly demand adaptive capabilities to handle the unpredictable and diverse nature of the terrain. This paper discusses the deploy…
Welfare Maximization Algorithm for Solving Budget-Constrained Multi-Component POMDPs
Manav Vora, Pranay Thangeda, Michael N. Grussing +1
Partially Observable Markov Decision Processes (POMDPs) provide an efficient way to model real-world sequential decision making processes. Motivated by the problem of maintenance a…
Few-shot Adaptation for Manipulating Granular Materials Under Domain Shift
Yifan Zhu, Pranay Thangeda, Melkior Ornik +1
Autonomous lander missions on extraterrestrial bodies will need to sample granular material while coping with domain shift, no matter how well a sampling strategy is tuned on Earth…
Efficient Strategy Synthesis for MDPs with Resource Constraints
František Blahoudek, Petr Novotný, Melkior Ornik +2
We consider qualitative strategy synthesis for the formalism called consumption Markov decision processes. This formalism can model dynamics of an agents that operates under resour…
Qualitative Controller Synthesis for Consumption Markov Decision Processes
František Blahoudek, Tomáš Brázdil, Petr Novotný +3
Consumption Markov Decision Processes (CMDPs) are probabilistic decision-making models of resource-constrained systems. In a CMDP, the controller possesses a certain amount of a cr…