47 citations · 172 across the 92 of their papers we have counts for
27 papers · 1 filter
Towards Unified Benchmark and Models for Multi-Modal Perceptual Metrics
Sara Ghazanfari, Siddharth Garg, Nicolas Flammarion +3
Human perception of similarity across uni- and multimodal inputs is highly complex, making it challenging to develop automated metrics that accurately mimic it. General purpose vis…
Distributed Inverse Dynamics Control for Quadruped Robots using Geometric Optimization
Nimesh Khandelwal, Amritanshu Manu, Shakti S. Gupta +3
This paper presents a distributed inverse dynamics controller (DIDC) for quadruped robots that addresses the limitations of existing reactive controllers: simplified dynamical mode…
Out-of-Distribution Detection with Overlap Index
Hao Fu, Prashanth Krishnamurthy, Siddharth Garg +1
Out-of-distribution (OOD) detection is crucial for the deployment of machine learning models in the open world. While existing OOD detectors are effective in identifying OOD sample…
RoboPEPP: Vision-Based Robot Pose and Joint Angle Estimation through Embedding Predictive Pre-Training
Raktim Gautam Goswami, Prashanth Krishnamurthy, Yann LeCun +1
Vision-based pose estimation of articulated robots with unknown joint angles has applications in collaborative robotics and human-robot interaction tasks. Current frameworks use ne…
Data-Efficient System Identification via Lipschitz Neural Networks
Shiqing Wei, Prashanth Krishnamurthy, Farshad Khorrami
Extracting dynamic models from data is of enormous importance in understanding the properties of unknown systems. In this work, we employ Lipschitz neural networks, a class of neur…
Collision Avoidance for Convex Primitives via Differentiable Optimization Based High-Order Control Barrier Functions
Shiqing Wei, Rooholla Khorrambakht, Prashanth Krishnamurthy +2
Ensuring the safety of dynamical systems is crucial, where collision avoidance is a primary concern. Recently, control barrier functions (CBFs) have emerged as an effective method…
Open-Architecture End-to-End System for Real-World Autonomous Robot Navigation
Venkata Naren Devarakonda, Ali Umut Kaypak, Raktim Gautam Goswami +4
Enabling robots to autonomously navigate unknown, complex, and dynamic real-world environments presents several challenges, including imperfect perception, partial observability, l…
EMMA: Efficient Visual Alignment in Multi-Modal LLMs
Sara Ghazanfari, Alexandre Araujo, Prashanth Krishnamurthy +2
Multi-modal Large Language Models (MLLMs) have recently exhibited impressive general-purpose capabilities by leveraging vision foundation models to encode the core concepts of imag…
Combining Switching Mechanism with Re-Initialization and Anomaly Detection for Resiliency of Cyber-Physical Systems
Hao Fu, Prashanth Krishnamurthy, Farshad Khorrami
Cyber-physical systems (CPS) play a pivotal role in numerous critical real-world applications that have stringent requirements for safety. To enhance the CPS resiliency against att…
FlashMix: Fast Map-Free LiDAR Localization via Feature Mixing and Contrastive-Constrained Accelerated Training
Raktim Gautam Goswami, Naman Patel, Prashanth Krishnamurthy +1
Map-free LiDAR localization systems accurately localize within known environments by predicting sensor position and orientation directly from raw point clouds, eliminating the need…
MultiTalk: Introspective and Extrospective Dialogue for Human-Environment-LLM Alignment
Venkata Naren Devarakonda, Ali Umut Kaypak, Shuaihang Yuan +3
LLMs have shown promising results in task planning due to their strong natural language understanding and reasoning capabilities. However, issues such as hallucinations, ambiguitie…
EnIGMA: Interactive Tools Substantially Assist LM Agents in Finding Security Vulnerabilities
Talor Abramovich, Meet Udeshi, Minghao Shao +13
Although language model (LM) agents have demonstrated increased performance in multiple domains, including coding and web-browsing, their success in cybersecurity has been limited.…
HiFi-CS: Towards Open Vocabulary Visual Grounding For Robotic Grasping Using Vision-Language Models
Vineet Bhat, Prashanth Krishnamurthy, Ramesh Karri +1
Robots interacting with humans through natural language can unlock numerous applications such as Referring Grasp Synthesis (RGS). Given a text query, RGS determines a stable grasp…
SALSA: Swift Adaptive Lightweight Self-Attention for Enhanced LiDAR Place Recognition
Raktim Gautam Goswami, Naman Patel, Prashanth Krishnamurthy +1
Large-scale LiDAR mappings and localization leverage place recognition techniques to mitigate odometry drifts, ensuring accurate mapping. These techniques utilize scene representat…
SENTAUR: Security EnhaNced Trojan Assessment Using LLMs Against Undesirable Revisions
Jitendra Bhandari, Rajat Sadhukhan, Prashanth Krishnamurthy +2
A globally distributed IC supply chain brings risks due to untrusted third parties. The risks span inadvertent use of hardware Trojan (HT), inserted Intellectual Property (3P-IP) o…
Robotic Shepherding in Cluttered and Unknown Environments using Control Barrier Functions
Mahmoud Hamandi, Farshad Khorrami, Anthony Tzes
This paper introduces a novel control methodology designed to guide a collective of robotic-sheep in a cluttered and unknown environment using robotic-dogs. The dog-agents continuo…
Efficient and Distributed Large-Scale 3D Map Registration using Tomographic Features
Halil Utku Unlu, Anthony Tzes, Prashanth Krishnamurthy +1
A robust, resource-efficient, distributed, and minimally parameterized 3D map matching and merging algorithm is proposed. The suggested algorithm utilizes tomographic features from…
Tracking Real-time Anomalies in Cyber-Physical Systems Through Dynamic Behavioral Analysis
Prashanth Krishnamurthy, Ali Rasteh, Ramesh Karri +1
Increased connectivity and remote reprogrammability/reconfigurability features of embedded devices in current-day power systems (including interconnections between information tech…
NYU CTF Bench: A Scalable Open-Source Benchmark Dataset for Evaluating LLMs in Offensive Security
Minghao Shao, Sofija Jancheska, Meet Udeshi +10
Large Language Models (LLMs) are being deployed across various domains today. However, their capacity to solve Capture the Flag (CTF) challenges in cybersecurity has not been thoro…
CLIPScope: Enhancing Zero-Shot OOD Detection with Bayesian Scoring
Hao Fu, Naman Patel, Prashanth Krishnamurthy +1
Detection of out-of-distribution (OOD) samples is crucial for safe real-world deployment of machine learning models. Recent advances in vision language foundation models have made…
Prescribed-Time Stability Properties of Interconnected Systems
Prashanth Krishnamurthy, Farshad Khorrami, Anthony Tzes
Achieving control objectives (e.g., stabilization or convergence of tracking error to zero, input-to-state stabilization) in "prescribed time" has attracted significant research in…
OffRAMPS: An FPGA-based Intermediary for Analysis and Modification of Additive Manufacturing Control Systems
Jason Blocklove, Md Raz, Prithwish Basu Roy +4
Cybersecurity threats in Additive Manufacturing (AM) are an increasing concern as AM adoption continues to grow. AM is now being used for parts in the aerospace, transportation, an…
Confidence-Aware Safe and Stable Control of Control-Affine Systems
Shiqing Wei, Prashanth Krishnamurthy, Farshad Khorrami
Designing control inputs that satisfy safety requirements is crucial in safety-critical nonlinear control, and this task becomes particularly challenging when full-state measuremen…
Sailing Through Point Clouds: Safe Navigation Using Point Cloud Based Control Barrier Functions
Bolun Dai, Rooholla Khorrambakht, Prashanth Krishnamurthy +1
The capability to navigate safely in an unstructured environment is crucial when deploying robotic systems in real-world scenarios. Recently, control barrier function (CBF) based a…