4 papers
STeP: Signal Temporal Logic for Precise Specifications for Action Generation with Vision Language Models
Kasra Torshizi, Anukriti Singh, Sidharth Mathur +3
Natural-language robot instructions often specify more than a coarse task goal: they may impose spatial, temporal, and logical requirements that must remain satisfied throughout ex…
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: How Far Can Sparse Keypoints Go for Robot Manipulation?
Anukriti Singh, Kasra Torshizi, Khuzema Habib +3
Vision-based manipulation policies are commonly learned from rich visual observations, typically using dense visual features extracted from full resolution images. It remains uncle…
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…