6 papers
STeP: Signal Temporal Logic for Precise Specifications for Action Generation with Vision Language Models
Kasra Torshizi, Anukriti Singh, Sidharth Mathur +3
Vision-language-action (VLA) models have shown impressive generalization, but often lack interpretability and can struggle to follow precise natural language instructions that enco…
WESPR: Wind-adaptive Energy-Efficient Safe Perception & Planning for Robust Flight with Quadrotors
Khuzema Habib, Pranav Deshakulkarni Manjunath, Kasra Torshizi +2
Local wind conditions strongly influence drone performance: headwinds increase flight time, crosswinds and wind shear hinder agility in cluttered spaces, while tailwinds reduce tra…
AFFORD2ACT: Affordance-Guided Automatic Keypoint Selection for Generalizable and Lightweight Robotic Manipulation
Anukriti Singh, Kasra Torshizi, Khuzema Habib +3
Vision-based robot learning often relies on dense image or point-cloud inputs, which are computationally heavy and entangle irrelevant background features. Existing keypoint-based…
Contextual Neural Moving Horizon Estimation for Robust Quadrotor Control in Varying Conditions
Kasra Torshizi, Chak Lam Shek, Khuzema Habib +3
Adaptive controllers on quadrotors typically rely on estimation of disturbances to ensure robust trajectory tracking. Estimating disturbances across diverse environmental contexts…
When to Localize? A POMDP Approach
Troi Williams, Kasra Torshizi, Pratap Tokekar
Robots often localize to lower navigational errors and facilitate downstream, high-level tasks. However, a robot may want to selectively localize when localization is costly (such…
When to Localize? A Risk-Constrained Reinforcement Learning Approach
Chak Lam Shek, Kasra Torshizi, Troi Williams +1
In a standard navigation pipeline, a robot localizes at every time step to lower navigational errors. However, in some scenarios, a robot needs to selectively localize when it is e…