5 papers
Expert-Play Contouring Control: Faster-than-Demonstration Planning from Slow Expert and Fast Play
Seunghoon Cho, Wonsuhk Jung, Sundhar Vinodh Sangeetha +1
Expert demonstrations often specify what a robot should do, but not how fast it can do it. Imitation Learning (IL) inherits demonstration timing, while directly accelerating the le…
Make Your VLA More Robust Without More Data By Interleaving Motion Planning
Dan BW Choe, Sundhar Vinodh Sangeetha, Samuel Coogan +1
Vision-Language-Action (VLA) models have shown remarkable progress for mobile manipulation, but their performance on long-horizon tasks remains poor. These tasks are especially cha…
Ask, Reason, Assist: Robot Collaboration via Natural Language and Temporal Logic
Dan BW Choe, Sundhar Vinodh Sangeetha, Steven Emanuel +3
Increased robot deployment, such as in warehousing, has revealed a need for collaboration among heterogeneous robot teams to resolve unforeseen conflicts. To this end, we propose a…
Language Conditioning Improves Accuracy of Aircraft Goal Prediction in Non-Towered Airspace
Sundhar Vinodh Sangeetha, Chih-Yuan Chiu, Sarah H. Q. Li +1
Autonomous aircraft must safely operate in non-towered airspace, where coordination relies on voice-based communication among human pilots. Safe operation requires an aircraft to p…
Seeing, Saying, Solving: An LLM-to-TL Framework for Cooperative Robots
Dan BW Choe, Sundhar Vinodh Sangeetha, Steven Emanuel +3
Increased robot deployment, such as in warehousing, has revealed a need for seamless collaboration among heterogeneous robot teams to resolve unforeseen conflicts. To address this…