79 citations · 88 across the 11 of their papers we have counts for
12 papers
Deploying Foundation Models for Embodied Navigation
Vishnu Sashank Dorbala, Dinesh Manocha
We present and tackle two problems associated with deploying Foundation Models (FMs) on Embodied Agents performing navigation: 1) Training bias in FMs leading to poor personalizati…
MemCtrl: Using MLLMs as Active Memory Controllers on Embodied Agents
Vishnu Sashank Dorbala, Dinesh Manocha
Foundation models rely on in-context learning for personalized decision making. The limited size of this context window necessitates memory compression and retrieval systems like R…
Improving Zero-Shot ObjectNav with Generative Communication
Vishnu Sashank Dorbala, Vishnu Dutt Sharma, Pratap Tokekar +1
We propose a new method for improving zero-shot ObjectNav that aims to utilize potentially available environmental percepts for navigational assistance. Our approach takes into acc…
Multi-LLM QA with Embodied Exploration
Bhrij Patel, Vishnu Sashank Dorbala, Amrit Singh Bedi +1
Large language models (LLMs) have grown in popularity due to their natural language interface and pre trained knowledge, leading to rapidly increasing success in question-answering…
Is the House Ready For Sleeptime? Generating and Evaluating Situational Queries for Embodied Question Answering
Vishnu Sashank Dorbala, Prasoon Goyal, Robinson Piramuthu +3
We present and tackle the problem of Embodied Question Answering (EQA) with Situational Queries (S-EQA) in a household environment. Unlike prior EQA work tackling simple queries th…
Can LLMs Generate Human-Like Wayfinding Instructions? Towards Platform-Agnostic Embodied Instruction Synthesis
Vishnu Sashank Dorbala, Sanjoy Chowdhury, Dinesh Manocha
We present a novel approach to automatically synthesize "wayfinding instructions" for an embodied robot agent. In contrast to prior approaches that are heavily reliant on human-ann…
Personalized Embodied Navigation for Portable Object Finding
Vishnu Sashank Dorbala, Bhrij Patel, Amrit Singh Bedi +1
Embodied navigation methods commonly operate in static environments with stationary objects. In this work, we present approaches for tackling navigation in dynamic scenarios with n…
Can an Embodied Agent Find Your "Cat-shaped Mug"? LLM-Guided Exploration for Zero-Shot Object Navigation
Vishnu Sashank Dorbala, James F. Mullen, Dinesh Manocha
We present LGX (Language-guided Exploration), a novel algorithm for Language-Driven Zero-Shot Object Goal Navigation (L-ZSON), where an embodied agent navigates to a uniquely descr…
CLIP-Nav: Using CLIP for Zero-Shot Vision-and-Language Navigation
Vishnu Sashank Dorbala, Gunnar Sigurdsson, Robinson Piramuthu +2
Household environments are visually diverse. Embodied agents performing Vision-and-Language Navigation (VLN) in the wild must be able to handle this diversity, while also following…
Can a Robot Trust You? A DRL-Based Approach to Trust-Driven Human-Guided Navigation
Vishnu Sashank Dorbala, Arjun Srinivasan, Aniket Bera
Humans are known to construct cognitive maps of their everyday surroundings using a variety of perceptual inputs. As such, when a human is asked for directions to a particular loca…
ProxEmo: Gait-based Emotion Learning and Multi-view Proxemic Fusion for Socially-Aware Robot Navigation
Venkatraman Narayanan, Bala Murali Manoghar, Vishnu Sashank Dorbala +2
We present ProxEmo, a novel end-to-end emotion prediction algorithm for socially aware robot navigation among pedestrians. Our approach predicts the perceived emotions of a pedestr…
A Deep Learning Approach for Robust Corridor Following
Vishnu Sashank Dorbala, A. H. Abdul Hafez, C. V. Jawahar
For an autonomous corridor following task where the environment is continuously changing, several forms of environmental noise prevent an automated feature extraction procedure fro…