4 papers · 1 filter
Search, Ground, Plan: Functional Sufficiency for Task and Motion Planning under Incomplete Scene Knowledge
Narendhiran Vijayakumar, Nav Singhal, Girish Varma +1
Foundation models (FMs) have expanded task and motion planning (TAMP) to manipulation problems specified through language and visual observations. However, incomplete scene knowled…
Deciding If, When, and Where to Replan for Robust Manipulation
Puru Ojha, Narendhiran Vijayakumar, Nav Singhal +2
Foundation-model (FM) based task and motion planning (TAMP) methods typically assume that the full scene is known before planning. In long-horizon manipulation, however, relevant o…
Design and Structural Validation of a Micro-UAV with On-Board Dynamic Route Planning
Inbazhagan Ravikumar, Ram Sundhar, Narendhiran Vijayakumar
Micro aerial vehicles are becoming increasingly important in search and rescue operations due to their agility, speed, and ability to access confined spaces or hazardous areas. How…
AURASeg: Attention-Guided Upsampling with Residual-Assisted Boundary Refinement for Drivable-Area Segmentation
Narendhiran Vijayakumar
Free-space segmentation is essential for autonomous robots to identify drivable regions and navigate safely across indoor, outdoor, and road-scene environments. However, convention…