56 citations · 143 across the 20 of their papers we have counts for
8 papers · 1 filter
Asymmetric Scout-Worker Reconnaissance for Route Validation in Unknown Environments
Kashif Khurshid Noori, Jaskrit Singh, Athanasios Ch. Kapoutsis +2
This paper studies asymmetric scout-worker reconnaissance in unknown environments, where a small, agile autonomous scout explores routes for a larger worker robot that must visit a…
RoboMonitor: Label-Efficient Runtime Monitoring of Robot Task Execution via Predictive Representation Learning
Abhiroop Ajith, Gokul Narayanan, Kyle Coelho +7
Learned robot policies produce actions, but their outputs alone do not establish whether execution is progressing as intended. Robot execution monitoring requires identifying the c…
DGT-Map: Directional Global Traversability Mapping Utilizing Multi-Task Learning for Heterogeneous Vehicles
Jaskrit Singh, Kashif K. Noori, Jing Xiao +1
Off-road traversability is direction-dependent and vehicle specific, yet most global maps assign a single isotropic cost to each location. Existing learned estimators are also comm…
MetaPusher: Meta Learning and Planning for Nonprehensile Manipulation of Unseen Objects with Rapid Online Adaption
Donghyung Lee, Seyedali Golestaneh, Jaskrit Singh +3
Manipulating previously unseen objects remains challenging, as their dynamics depend on latent physical properties, such as friction and mass distribution, that cannot be inferred…
STRIPS-WM: Learning Grounded Propositional STRIPS-style World Models from Images
Abhiroop Ajith, Constantinos Chamzas
Robots performing long-horizon visual manipulation observe high-dimensional images, but successful plans depend on action-relevant facts: what can be done now and what changes afte…
AURA: Asymptotically Optimal Uncertainty-Robust Replanning Algorithm for Kinodynamic Systems
Seyedali Golestaneh, Zhuoyun Zhong, Donghyung Lee +1
Sampling-based motion planners offer a practical and scalable approach to kinodynamic motion planning, notably for high-dimensional, underactuated, or non-holonomic systems. Howeve…
Terminal Matters: Kinodynamic Planning with a Terminal Cost and Learned Uncertainty in Belief State-Cost Space
Zhuoyun Zhong, Seyedali Golestaneh, Constantinos Chamzas
In many real-world robotic tasks, robots must generate dynamically feasible motions that reliably reach desired goals even under uncertainty. Yet existing sampling-based kinodynami…
CoAd: Constant-Time Planning for Continuous Goal Manipulation with Compressed Library and Online Adaptation
Adil Shiyas, Zhuoyun Zhong, Constantinos Chamzas
In many robotic manipulation tasks, the robot repeatedly solves motion-planning problems that differ mainly in the location of the goal object and its associated obstacle, while th…