1 citations · 5 across the 11 of their papers we have counts for
12 papers
SG-CPG: Severity-Gated Central Pattern Generators for Adaptive Quadruped Locomotion under Continuous Actuator Degradation
Adarsh Kumar Kosta, Kaushik Roy
An animal with a weakened limb does not necessarily switch its gait, instead it unloads the affected limb, re-coordinates the remaining limbs, and scales its response with injury s…
GLAMDRING: Gait Learning And Morphology co-Design via Reinforcement LearnING of CPGs
Amogh Joshi, Kaushik Roy
Robots are moving out of the structured factory floor and into unstructured environments such as disaster sites, planetary surfaces, and agricultural fields, for which the right ro…
Confidence-Gated Vision-Only Heading Alignment for UAV-UGV Cooperative Systems
Reza Ahmari, Vahid Hemmati, Parham Kebria +3
Vision-based heading prediction is useful for UAV--UGV cooperation, but accurate prediction alone does not guarantee that every predicted heading should be issued directly as a con…
TAXI: Traveling Salesman Problem Accelerator with X-bar-based Ising Macros Powered by SOT-MRAMs and Hierarchical Clustering
Sangmin Yoo, Amod Holla, Sourav Sanyal +5
Ising solvers with hierarchical clustering have shown promise for large-scale Traveling Salesman Problems (TSPs), in terms of latency and energy. However, most of these methods sti…
Real-Time Neuromorphic Navigation: Guiding Physical Robots with Event-Based Sensing and Task-Specific Reconfigurable Autonomy Stack
Sourav Sanyal, Amogh Joshi, Adarsh Kosta +1
Neuromorphic vision, inspired by biological neural systems, has recently gained significant attention for its potential in enhancing robotic autonomy. This paper presents a systema…
Energy-Efficient Autonomous Aerial Navigation with Dynamic Vision Sensors: A Physics-Guided Neuromorphic Approach
Sourav Sanyal, Amogh Joshi, Manish Nagaraj +2
Vision-based object tracking is a critical component for achieving autonomous aerial navigation, particularly for obstacle avoidance. Neuromorphic Dynamic Vision Sensors (DVS) or e…
TOFFE -- Temporally-binned Object Flow from Events for High-speed and Energy-Efficient Object Detection and Tracking
Adarsh Kumar Kosta, Amogh Joshi, Arjun Roy +3
Object detection and tracking is an essential perception task for enabling fully autonomous navigation in robotic systems. Edge robot systems such as small drones need to execute c…
Neuro-LIFT: A Neuromorphic, LLM-based Interactive Framework for Autonomous Drone FlighT at the Edge
Amogh Joshi, Sourav Sanyal, Kaushik Roy
The integration of human-intuitive interactions into autonomous systems has been limited. Traditional Natural Language Processing (NLP) systems struggle with context and intent und…
ASMA: An Adaptive Safety Margin Algorithm for Vision-Language Drone Navigation via Scene-Aware Control Barrier Functions
Sourav Sanyal, Kaushik Roy
In the rapidly evolving field of vision-language navigation (VLN), ensuring safety for physical agents remains an open challenge. For a human-in-the-loop language-operated drone to…
SHIRE: Enhancing Sample Efficiency using Human Intuition in REinforcement Learning
Amogh Joshi, Adarsh Kumar Kosta, Kaushik Roy
The ability of neural networks to perform robotic perception and control tasks such as depth and optical flow estimation, simultaneous localization and mapping (SLAM), and automati…
DCT-CryptoNets: Scaling Private Inference in the Frequency Domain
Arjun Roy, Kaushik Roy
The convergence of fully homomorphic encryption (FHE) and machine learning offers unprecedented opportunities for private inference of sensitive data. FHE enables computation direc…
Real-Time Neuromorphic Navigation: Integrating Event-Based Vision and Physics-Driven Planning on a Parrot Bebop2 Quadrotor
Amogh Joshi, Sourav Sanyal, Kaushik Roy
In autonomous aerial navigation, real-time and energy-efficient obstacle avoidance remains a significant challenge, especially in dynamic and complex indoor environments. This work…