4 citations · 6 across the 12 of their papers we have counts for
6 papers · 1 filter
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…