3 papers
cs.RO2026
When Should a Robot Replan? Regret-Guided Update Scheduling in Time-Varying MDPs
Negin Musavi, Gokul Puthumanaillam, Ruben Hernandez +2
Robots operating in non-stationary environments must continually adapt their policies as the dynamics drift, but onboard energy and compute budgets cap how often a full state estim…
cs.RO2026
Task-Aware Environment Augmentation for Reliable Navigation via Shielded Conditional Diffusion
Bharawee Phoompho, Gokul Puthumanaillam, Yan Miao +4
Reliable trajectory planning under partial observability depends not only on computing a feasible geometric path, but also on whether the robot receives informative observations wh…
cs.RO2025
Online Learning of Deceptive Policies under Intermittent Observation
Gokul Puthumanaillam, Ram Padmanabhan, Jose Fuentes +7
In supervisory control settings, autonomous systems are not monitored continuously. Instead, monitoring often occurs at sporadic intervals within known bounds. We study the problem…