14 citations · 32 across the 18 of their papers we have counts for
9 papers · 1 filter
Constrained Decoding for Safe Robot Navigation Foundation Models
Parv Kapoor, Akila Ganlath, Michael Clifford +3
Recent advances in the development of robotic foundation models have led to promising end-to-end and general-purpose capabilities in robotic systems. Trained on vast datasets of si…
Demonstrating ViSafe: Vision-enabled Safety for High-speed Detect and Avoid
Parv Kapoor, Ian Higgins, Nikhil Keetha +9
Assured safe-separation is essential for achieving seamless high-density operation of airborne vehicles in a shared airspace. To equip resource-constrained aerial systems with this…
STLCG++: A Masking Approach for Differentiable Signal Temporal Logic Specification
Parv Kapoor, Kazuki Mizuta, Eunsuk Kang +1
Signal Temporal Logic (STL) offers a concise yet expressive framework for specifying and reasoning about spatio-temporal behaviors of robotic systems. Attractively, STL admits the…
Logically Constrained Robotics Transformers for Enhanced Perception-Action Planning
Parv Kapoor, Sai Vemprala, Ashish Kapoor
With the advent of large foundation model based planning, there is a dire need to ensure their output aligns with the stakeholder's intent. When these models are deployed in the re…
"Do it my way!": Impact of Customizations on Trust perceptions in Human-Robot Collaboration
Parv Kapoor, Simon Chu, Angela Chen
Trust has been shown to be a key factor in effective human-robot collaboration. In the context of assistive robotics, the effect of trust factors on human experience is further pro…
FoundLoc: Vision-based Onboard Aerial Localization in the Wild
Yao He, Ivan Cisneros, Nikhil Keetha +6
Robust and accurate localization for Unmanned Aerial Vehicles (UAVs) is an essential capability to achieve autonomous, long-range flights. Current methods either rely heavily on GN…
Challenges in Close-Proximity Safe and Seamless Operation of Manned and Unmanned Aircraft in Shared Airspace
Jay Patrikar, Joao P. A. Dantas, Sourish Ghosh +11
We propose developing an integrated system to keep autonomous unmanned aircraft safely separated and behave as expected in conjunction with manned traffic. The main goal is to achi…
Follow The Rules: Online Signal Temporal Logic Tree Search for Guided Imitation Learning in Stochastic Domains
Jasmine Jerry Aloor, Jay Patrikar, Parv Kapoor +2
Seamlessly integrating rules in Learning-from-Demonstrations (LfD) policies is a critical requirement to enable the real-world deployment of AI agents. Recently, Signal Temporal Lo…
Model-based Reinforcement Learning from Signal Temporal Logic Specifications
Parv Kapoor, Anand Balakrishnan, Jyotirmoy V. Deshmukh
Techniques based on Reinforcement Learning (RL) are increasingly being used to design control policies for robotic systems. RL fundamentally relies on state-based reward functions…