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cs.RO2026
Imagine-TAMP: Imagination-Guided Task and Motion Planning in Partial Observability
Antareep Singha, Shivaram Kumar, Yoonwoo Kim +1
Robots operating in cluttered environments must often manipulate objects whose locations are only partially observable. A central challenge is deciding whether to acquire another o…
cs.RO2026
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…
cs.RO2024
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…