2 citations · 3 across the 9 of their papers we have counts for
9 papers
Crowd-FM: Learned Optimal Selection of Conditional Flow Matching-generated Trajectories for Crowd Navigation
Antareep Singha, Laksh Nanwani, Mathai Mathew P. +4
Safe and computationally efficient local planning for mobile robots in dense, unstructured human crowds remains a fundamental challenge. Moreover, ensuring that robot trajectories…
MonoMPC: Monocular Vision Based Navigation with Learned Collision Model and Risk-Aware Model Predictive Control
Basant Sharma, Prajyot Jadhav, Pranjal Paul +2
Navigating unknown environments with a single RGB camera is challenging, as the lack of depth information prevents reliable collision-checking. While some methods use estimated dep…
Trajectory Optimization Under Stochastic Dynamics Leveraging Maximum Mean Discrepancy
Basant Sharma, Arun Kumar Singh
This paper addresses sampling-based trajectory optimization for risk-aware navigation under stochastic dynamics. Typically such approaches operate by computing perturbe…
MMD-OPT : Maximum Mean Discrepancy Based Sample Efficient Collision Risk Minimization for Autonomous Driving
Basant Sharma, Arun Kumar Singh
We propose MMD-OPT: a sample-efficient approach for minimizing the risk of collision under arbitrary prediction distribution of the dynamic obstacles. MMD-OPT is based on embedding…
CrowdSurfer: Sampling Optimization Augmented with Vector-Quantized Variational AutoEncoder for Dense Crowd Navigation
Naman Kumar, Antareep Singha, Laksh Nanwani +6
Navigation amongst densely packed crowds remains a challenge for mobile robots. The complexity increases further if the environment layout changes, making the prior computed global…
Learning Sampling Distribution and Safety Filter for Autonomous Driving with VQ-VAE and Differentiable Optimization
Simon Idoko, Basant Sharma, Arun Kumar Singh
Sampling trajectories from a distribution followed by ranking them based on a specified cost function is a common approach in autonomous driving. Typically, the sampling distributi…
Talk2BEV: Language-enhanced Bird's-eye View Maps for Autonomous Driving
Tushar Choudhary, Vikrant Dewangan, Shivam Chandhok +6
Talk2BEV is a large vision-language model (LVLM) interface for bird's-eye view (BEV) maps in autonomous driving contexts. While existing perception systems for autonomous driving s…
End-to-End Learning of Behavioural Inputs for Autonomous Driving in Dense Traffic
Jatan Shrestha, Simon Idoko, Basant Sharma +1
Trajectory sampling in the Frenet(road-aligned) frame, is one of the most popular methods for motion planning of autonomous vehicles. It operates by sampling a set of behavioural i…
Hilbert Space Embedding-based Trajectory Optimization for Multi-Modal Uncertain Obstacle Trajectory Prediction
Basant Sharma, Aditya Sharma, K. Madhava Krishna +1
Safe autonomous driving critically depends on how well the ego-vehicle can predict the trajectories of neighboring vehicles. To this end, several trajectory prediction algorithms h…