6 citations · 9 across the 6 of their papers we have counts for
6 papers
Accelerating Optimization over Graphs of Convex Sets via Neural Network Approximations
Ananya Trivedi, Sarvesh Prajapati, Mohamed Khalid M Jaffar +3
Motion planning problems such as collision-free navigation and contact-rich manipulation can be naturally formulated as optimization problems that couple discrete decisions with co…
Reachability Guarantees for Cart-Pole Swing-Up and Stabilization
Mohamed Khalid M Jaffar
The cart-pole swing-up is a canonical benchmark for nonlinear control of underactuated systems, yet an end-to-end guarantee linking the global swing-up maneuver to the local stabil…
BehAV: Behavioral Rule Guided Autonomy Using VLMs for Robot Navigation in Outdoor Scenes
Kasun Weerakoon, Mohamed Elnoor, Gershom Seneviratne +5
We present BehAV, a novel approach for autonomous robot navigation in outdoor scenes guided by human instructions and leveraging Vision Language Models (VLMs). Our method interpret…
Robot Navigation Using Physically Grounded Vision-Language Models in Outdoor Environments
Mohamed Elnoor, Kasun Weerakoon, Gershom Seneviratne +5
We present a novel autonomous robot navigation algorithm for outdoor environments that is capable of handling diverse terrain traversability conditions. Our approach, VLM-GroNav, u…
CROSS-GAiT: Cross-Attention-Based Multimodal Representation Fusion for Parametric Gait Adaptation in Complex Terrains
Gershom Seneviratne, Kasun Weerakoon, Mohamed Elnoor +5
We present CROSS-GAiT, a novel algorithm for quadruped robots that uses Cross Attention to fuse terrain representations derived from visual and time-series inputs; including linear…
PiP-X: Online feedback motion planning/replanning in dynamic environments using invariant funnels
Mohamed Khalid M Jaffar, Michael Otte
Computing kinodynamically feasible motion plans and repairing them on-the-fly as the environment changes is a challenging, yet relevant problem in robot-navigation. We propose a no…