2 citations · 3 across the 7 of their papers we have counts for
5 papers · 1 filter
Hölder Signed Distance: A Differentiable, Signed, Parallelizable Metric for Robotics
Felipe Bartelt, Ali Umut Kaypak, Anthony Tzes +3
Computing distances between sets is essential in robotic motion planning and control, where differentiable gradients enable real-time optimization. The Euclidean Signed Distance Fu…
Safe Multi-Robotic Arm Interaction via 3D Convex Shapes
Ali Umut Kaypak, Shiqing Wei, Prashanth Krishnamurthy +1
Inter-robot collisions pose a significant safety risk when multiple robotic arms operate in close proximity. We present an online collision avoidance methodology leveraging High-Or…
Open-Architecture End-to-End System for Real-World Autonomous Robot Navigation
Venkata Naren Devarakonda, Ali Umut Kaypak, Raktim Gautam Goswami +4
Enabling robots to autonomously navigate unknown, complex, and dynamic real-world environments presents several challenges, including imperfect perception, partial observability, l…
MultiTalk: Introspective and Extrospective Dialogue for Human-Environment-LLM Alignment
Venkata Naren Devarakonda, Ali Umut Kaypak, Shuaihang Yuan +3
LLMs have shown promising results in task planning due to their strong natural language understanding and reasoning capabilities. However, issues such as hallucinations, ambiguitie…
Grounding LLMs For Robot Task Planning Using Closed-loop State Feedback
Vineet Bhat, Ali Umut Kaypak, Prashanth Krishnamurthy +2
Planning algorithms decompose complex problems into intermediate steps that can be sequentially executed by robots to complete tasks. Recent works have employed Large Language Mode…