47 papers
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…
Learning Robust Control Lyapunov Functions through Lipschitz Neural Networks
Shiqing Wei, Prashanth Krishnamurthy, Farshad Khorrami
This work presents a novel framework for learning robust control Lyapunov functions and stabilizing controllers for nonlinear dynamical systems subject to additive disturbances upp…
Sandbox-Enabled Digital Twin for Cyber-Physical Systems
Meet Udeshi, Md Raz, Prashanth Krishnamurthy +2
Firmware/software in cyber-physical system (CPS) embedded devices/controllers can have vulnerabilities stemming from multiple sources such as weak security practices, outdated libr…
VANDERER: Map-Free Exploration using Future-Aware and Visual-Curiosity-Guided Diffusion Policy
Venkata Naren Devarakonda, Raktim Gautam Goswami, Prashanth Krishnamurthy +1
Mobile agents require efficient exploration strategies to map unseen environments and autonomously plan tasks. Traditional methods rely on generating occupancy maps and optimizing…
Unifying Object-Centric World Models and Diffusion Policy: A Hierarchical Framework for Multi-Stage Robotic Tasks
Raktim Gautam Goswami, Prashanth Krishnamurthy, Yann LeCun +1
Visual world models have shown great potential in learning complex system dynamics. Recent advancements leverage these models as transition functions within Model Predictive Contro…
Long-Term and Short-Term Transistor Aging in Deep Neural Networks: Impact and Mitigation
Alireza Sarmadi, Virinchi Roy Surabhi, Prashanth Krishnamurthy +3
Deep neural networks (DNNs) are used in a variety of real-world applications including, for example, image classification and speech recognition. The inference accuracy of DNN impl…