4 citations · 12 across the 24 of their papers we have counts for
16 papers · 1 filter
ShieldVLA: Feasibility-Aware Safety Alignment for Vision-Language-Action Models
Manan Tayal, Akshay Nambi
Vision-Language-Action (VLA) models demonstrate strong generalization in robotic manipulation and navigation, but existing fine-tuning methods provide limited safety guarantees. Cu…
MuJoCo-Drones-Gym: A GPU-Accelerated Multi-Drone Simulator for Control and Reinforcement Learning
Manan Tayal
Robotic simulators are a cornerstone of modern research in aerial robotics, serving both as a vehicle for the development of new control algorithms and as the data source for train…
MAD-PINN: A Decentralized Physics-Informed Machine Learning Framework for Safe and Optimal Multi-Agent Control
Manan Tayal, Aditya Singh, Shishir Kolathaya +1
Co-optimizing safety and performance in large-scale multi-agent systems remains a fundamental challenge. Existing approaches based on multi-agent reinforcement learning (MARL), saf…
Neural Control Barrier Functions from Physics Informed Neural Networks
Shreenabh Agrawal, Manan Tayal, Aditya Singh +1
As autonomous systems become increasingly prevalent in daily life, ensuring their safety is paramount. Control Barrier Functions (CBFs) have emerged as an effective tool for guaran…
RISE: Robust Imitation through Stochastic Encoding
Mumuksh Tayal, Manan Tayal, Ravi Prakash
Ensuring safety in robotic systems remains a fundamental challenge, especially when deploying offline policy-learning methods such as imitation learning in dynamic environments. Tr…
A Physics-Informed Machine Learning Framework for Safe and Optimal Control of Autonomous Systems
Manan Tayal, Aditya Singh, Shishir Kolathaya +1
As autonomous systems become more ubiquitous in daily life, ensuring high performance with guaranteed safety is crucial. However, safety and performance could be competing objectiv…
Semi-Supervised Safe Visuomotor Policy Synthesis using Barrier Certificates
Manan Tayal, Aditya Singh, Pushpak Jagtap +1
In modern robotics, addressing the lack of accurate state space information in real-world scenarios has led to a significant focus on utilizing visuomotor observation to provide sa…
BiRoDiff: Diffusion policies for bipedal robot locomotion on unseen terrains
GVS Mothish, Manan Tayal, Shishir Kolathaya
Locomotion on unknown terrains is essential for bipedal robots to handle novel real-world challenges, thus expanding their utility in disaster response and exploration. In this wor…
Learning a Formally Verified Control Barrier Function in Stochastic Environment
Manan Tayal, Hongchao Zhang, Pushpak Jagtap +2
Safety is a fundamental requirement of control systems. Control Barrier Functions (CBFs) are proposed to ensure the safety of the control system by constructing safety filters or s…
A Collision Cone Approach for Control Barrier Functions
Manan Tayal, Bhavya Giri Goswami, Karthik Rajgopal +5
This work presents a unified approach for collision avoidance using Collision-Cone Control Barrier Functions (CBFs) in both ground (UGV) and aerial (UAV) unmanned vehicles. We prop…
Stoch BiRo: Design and Control of a low cost bipedal robot
GVS Mothish, Karthik Rajgopal, Ravi Kola +2
This paper introduces the Stoch BiRo, a cost-effective bipedal robot designed with a modular mechanical structure having point feet to navigate uneven and unfamiliar terrains. The…
Polygonal Cone Control Barrier Functions (PolyC2BF) for safe navigation in cluttered environments
Manan Tayal, Shishir Kolathaya
In fields such as mining, search and rescue, and archaeological exploration, ensuring real-time, collision-free navigation of robots in confined, cluttered environments is imperati…
Collision Cone Control Barrier Functions: Experimental Validation on UGVs for Kinematic Obstacle Avoidance
Bhavya Giri Goswami, Manan Tayal, Karthik Rajgopal +2
Autonomy advances have enabled robots in diverse environments and close human interaction, necessitating controllers with formal safety guarantees. This paper introduces an experim…
Safe Legged Locomotion using Collision Cone Control Barrier Functions (C3BFs)
Manan Tayal, Shishir Kolathaya
Legged robots exhibit significant potential across diverse applications, including but not limited to hazardous environment search and rescue missions and the exploration of unexpl…
Control Barrier Functions in Dynamic UAVs for Kinematic Obstacle Avoidance: A Collision Cone Approach
Manan Tayal, Rajpal Singh, Jishnu Keshavan +1
Unmanned aerial vehicles (UAVs), specifically quadrotors, have revolutionized various industries with their maneuverability and versatility, but their safe operation in dynamic env…
Control Barrier Functions in UGVs for Kinematic Obstacle Avoidance: A Collision Cone Approach
Phani Thontepu, Bhavya Giri Goswami, Manan Tayal +6
In this paper, we propose a new class of Control Barrier Functions (CBFs) for Unmanned Ground Vehicles (UGVs) that help avoid collisions with kinematic (non-zero velocity) obstacle…