3 papers
cs.RO2026
CART: Context-Aware Terrain Adaptation using Temporal Sequence Selection for Legged Robots
Kartikeya Singh, Youngjin Kim, Yash Turkar +1
Animals in nature combine multiple modalities, such as sight and feel, to perceive terrain and develop an understanding of how to walk on uneven terrain in an efficient manner. Sim…
cs.RO2026
Task-Conditioned Uncertainty Costmaps for Legged Locomotion
Kartikeya Singh, Christo Aluckal, Romeo Orsolino +1
Legged robots maintain dynamic feasibility through multicontact interactions with terrain. Learned foothold prediction can provide feasibility-aware costs for motion planning and p…
cs.CV2025
QAL: A Loss for Recall Precision Balance in 3D Reconstruction
Pranay Meshram, Yash Turkar, Kartikeya Singh +3
Volumetric learning underpins many 3D vision tasks such as completion, reconstruction, and mesh generation, yet training objectives still rely on Chamfer Distance (CD) or Earth Mov…