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cs.RO2026
OIL: An Object Interaction Layer for Humanoid Whole-Body Control
Pranay Dugar, Mohitvishnu S. Gadde, Rajesh Mangannavar +2
Recent progress in learned whole-body controllers for humanoid robots has enabled robust free-space motion by tracking kinematic targets such as joint or end-effector trajectories.…
cs.AI2026
Training the Orchestrator: A Supervised Approach to End-to-End PDDL Planning with LLM Agents
Rajesh Mangannavar, Zachary Coalson, Pranay Dugar +1
Translating natural-language planning intent into verified plans is a longstanding challenge: people communicate goals in language, while classical planners require formal PDDL spe…
cs.AI2026
GLARE: A Natural Language Interface for Querying Global Explanations
Bhavan Vasu, Rajesh Mangannavar
While global explanations are crucial for understanding vision models across datasets, classes, and decision contexts, their complex and monolithic nature often hinders practical e…