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cs.RO2025
Non-conflicting Energy Minimization in Reinforcement Learning based Robot Control
Skand Peri, Akhil Perincherry, Bikram Pandit +1
Efficient robot control often requires balancing task performance with energy expenditure. A common approach in reinforcement learning (RL) is to penalize energy use directly as pa…
cs.CV2025
Harnessing Input-Adaptive Inference for Efficient VLN
Dongwoo Kang, Akhil Perincherry, Zachary Coalson +3
An emerging paradigm in vision-and-language navigation (VLN) is the use of history-aware multi-modal transformer models. Given a language instruction, these models process observat…
cs.CV2025
Do Visual Imaginations Improve Vision-and-Language Navigation Agents?
Akhil Perincherry, Jacob Krantz, Stefan Lee
Vision-and-Language Navigation (VLN) agents are tasked with navigating an unseen environment using natural language instructions. In this work, we study if visual representations o…