6 papers · 1 filter
MVB-Grasp: Minimum-Volume-Box Filtering of Diffusion-based Grasps for Frontal Manipulation
Bibek Poudel, Abdul Basit, Muhammad Shafique
State-of-the-art 6-DoF grasp generators excel on tabletop benchmarks with overhead cameras but struggle in frontal grasping scenarios on low-cost manipulators with constrained work…
Learning-Guided Sparsification of Dynamic Graphs in Robotic Exploration
Adithya V. Sastry, Bibek Poudel, Weizi Li
Many robotic exploration algorithms rely on graph structures for frontier-based exploration and dynamic path planning. However, these graphs grow rapidly, accumulating redundant in…
Beacon: A Naturalistic Driving Dataset During Blackouts for Benchmarking Traffic Reconstruction and Control
Supriya Sarker, Iftekharul Islam, Bibek Poudel +1
Extreme weather and infrastructure vulnerabilities pose significant challenges to urban mobility, particularly at intersections where signals become inoperative. To address this gr…
PulseRide: A Robotic Wheelchair for Personalized Exertion Control with Human-in-the-Loop Reinforcement Learning
Azizul Zahid, Bibek Poudel, Danny Scott +4
Maintaining an active lifestyle is vital for quality of life, yet challenging for wheelchair users. For instance, powered wheelchairs face increasing risks of obesity and deconditi…
CARL: Congestion-Aware Reinforcement Learning for Imitation-based Perturbations in Mixed Traffic Control
Bibek Poudel, Weizi Li, Shuai Li
Human-driven vehicles (HVs) exhibit complex and diverse behaviors. Accurately modeling such behavior is crucial for validating Robot Vehicles (RVs) in simulation and realizing the…
EnduRL: Enhancing Safety, Stability, and Efficiency of Mixed Traffic Under Real-World Perturbations Via Reinforcement Learning
Bibek Poudel, Weizi Li, Kevin Heaslip
Human-driven vehicles (HVs) amplify naturally occurring perturbations in traffic, leading to congestion--a major contributor to increased fuel consumption, higher collision risks,…