5 citations · 13 across the 40 of their papers we have counts for
47 papers
TGrasp6D: Task-Informed Vision-Language Priors and Pose Refinement enable Zero-Shot Task-Oriented 6DoF Grasping
Manav Kulshrestha, Apoorva Vashisth, Damon Conover +1
Task-Oriented Grasping (TOG) has emerged as an important skill for purposeful robotic manipulation. Given the task of using a knife to "slice bread," a robot must choose to grasp f…
Emergence, Not Bandwidth: Physical Coupling and the Limits of Learned Multi-Agent Communication
Mihir Chauhan, Aniket Bera
Rate-limited multi-agent teams raise three questions the emergent-communication literature has answered only empirically: what an optimal message should encode, what compression co…
Faster Visuomotor Policy Learning on Action Manifolds via Riemannian MeanFlow
S. Talha Bukhari, Austin Garrett, Yi Wei +3
Visuomotor policies learn a direct map from raw sensory observations to robot action sequences. Policies based on Diffusion and Flow Matching capture the multimodal distribution ov…
Noctif3R: Feed-Forward Monocular Real-Time SLAM for Photon-Limited Scenes on Embedded Hardware
Mihir Chauhan, Aditya Uday Abhang, Kevin Biju Mathew +1
Robots carrying out tasks in dark environments need to localize from a single RGB camera, in light so low that the per-pixel signal approaches the sensor's own noise, on a power-co…
HEROIC: Heterogeneous Evidential Reasoning for Open-Vocabulary Identification and Cross-Robot Collaboration
Mihir Chauhan, Aarav Jain, Addison Zucek +3
Multi-agent heterogeneous air-ground robot teams are attractive for open world search, with applications for reconnaissance, urban search and rescue missions (USAR), disaster respo…
Latent Energy Action Planning with World Models
Phu Pham, Aniket Bera
Latent world models support efficient model predictive control from high-dimensional observations, yet optimizing a single learned latent objective can favor action sequences whose…
Fast Generative Grasping via Lie Group-Constrained MeanFlow
S. Talha Bukhari, Yi Wei, Ruiqi Ni +2
Grasp synthesis is a core task in robotic manipulation, for which the solution typically forms a multimodal distribution rather than a point estimate. Generative robotic grasping a…
COLMAR: Cooperative View Policy Learning for Multi-Agent Active 3D Reconstruction
Phu Pham, Damon Conover, Aniket Bera
Active 3D reconstruction requires selecting informative viewpoints under limited sensing budgets. In multi-agent settings, coordination inefficiencies such as redundant observation…
PoseShield: Neural Collision Fields for Human Self-Collision Resolution
Zhengyuan Li, Zeyun Deng, Yifan Shen +7
Self-collision remains a persistent challenge in SMPL-based human pose estimation and motion generation. Under extreme articulations or stochastic motion synthesis, generated meshe…
LatentMimic: Terrain-Adaptive Locomotion via Latent Space Imitation
Zhiquan Wang, Yunyu Liu, Dipam Patel +3
Developing natural and diverse locomotion controllers for quadruped robots that can adapt to complex terrains while preserving motion style remains a significant challenge. Existin…
Sketch2Colab: Sketch-Conditioned Multi-Human Animation via Controllable Flow Distillation
Divyanshu Daiya, Aniket Bera
We present Sketch2Colab, which turns storyboard-style 2D sketches into coherent, object-aware 3D multi-human motion with fine-grained control over agents, joints, timing, and conta…
Operator Learning Using Weak Supervision from Walk-on-Spheres
Hrishikesh Viswanath, Hong Chul Nam, Xi Deng +3
Training neural PDE solvers is often bottlenecked by expensive data generation or unstable physics-informed neural network (PINN) involving challenging optimization landscapes due…
Mollified Value Learning
Hrishikesh Viswanath, Juanwu Lu, S. Talha Bukhari +4
Offline goal-conditioned reinforcement learning (GCRL) learns goal-reaching behaviors from static datasets, but accurate value estimation remains challenging under limited state-ac…
HCVR Scene Generation: High Compatibility Virtual Reality Environment Generation for Extended Redirected Walking
Yiran Zhang, Xingpeng Sun, Aniket Bera
Natural walking enhances immersion in virtual environments (VEs), but physical space limitations and obstacles hinder exploration, especially in large virtual scenes. Redirected Wa…
I-Scene: 3D Instance Models are Implicit Generalizable Spatial Learners
Lu Ling, Yunhao Ge, Yichen Sheng +1
Generalization remains the central challenge for interactive 3D scene generation. Existing learning-based approaches ground spatial understanding in limited scene dataset, restrict…
From Building Blocks to Planning: Multi-Step Spatial Reasoning in LLMs with Reinforcement Learning
Amir Tahmasbi, Sadegh Majidi, Kazem Taram +1
Spatial reasoning in large language models (LLMs) has gained increasing attention due to applications in navigation and planning. Despite strong general language capabilities, LLMs…
TransLocNet: Cross-Modal Attention for Aerial-Ground Vehicle Localization with Contrastive Learning
Phu Pham, Damon Conover, Aniket Bera
Aerial-ground localization is difficult due to large viewpoint and modality gaps between ground-level LiDAR and overhead imagery. We propose TransLocNet, a cross-modal attention fr…
HAVEN: Hierarchical Adversary-aware Visibility-Enabled Navigation with Cover Utilization using Deep Transformer Q-Networks
Mihir Chauhan, Damon Conover, Aniket Bera
Autonomous navigation in partially observable environments requires agents to reason beyond immediate sensor input, exploit occlusion, and ensure safety while progressing toward a…
Game-Master LLMs for Task-Based Role-Play: Supporting the Acquisition of Idiomatic Language in L2 Learning
Amir Tahmasbi, Milad Esrafilian, Judson Wright +2
Natural and idiomatic expressions are essential for fluent, everyday communication, yet many second-language learners struggle to acquire and spontaneously use casual slang despite…
VLAD-Grasp: Zero-shot Grasp Detection via Vision-Language Models
Manav Kulshrestha, S. Talha Bukhari, Damon Conover +1
Robotic grasping is a fundamental capability for enabling autonomous manipulation, with usually infinite solutions. State-of-the-art approaches for grasping rely on learning from l…
Logic-Guided Socially-aware Robot Navigation World Model
Weizheng Wang, Obi Ike, Soyun Choi +3
Social robot navigation increasingly relies on large language models for reasoning, path planning, and enabling movement in dynamic human spaces. However, relying solely on LLMs fo…
Unified Multi-Modal Interactive & Reactive 3D Motion Generation via Rectified Flow
Prerit Gupta, Shourya Verma, Ananth Grama +1
Generating realistic, context-aware two-person motion conditioned on diverse modalities remains a fundamental challenge for graphics, animation and embodied AI systems. Real-world…
MDD: A Dataset for Text-and-Music Conditioned Duet Dance Generation
Prerit Gupta, Jason Alexander Fotso-Puepi, Zhengyuan Li +2
We introduce Multimodal DuetDance (MDD), a diverse multimodal benchmark dataset designed for text-controlled and music-conditioned 3D duet dance motion generation. Our dataset comp…
Variational Shape Inference for Grasp Diffusion on SE(3)
S. Talha Bukhari, Kaivalya Agrawal, Zachary Kingston +1
Grasp synthesis is a fundamental task in robotic manipulation which usually has multiple feasible solutions. Multimodal grasp synthesis seeks to generate diverse sets of stable gra…