5 papers
EGT: Execution-Grounded Traversability through Learned Closed-Loop Trajectory Distributions
Chinmay Mundane, Amith Manoharan, Arun Kumar Singh
Rough terrain traversability is often estimated through point-wise roll, pitch, or force-angle margins along a planned path. However, these metrics are often inaccurate and overly…
Improving Fine-Grained Manipulation through Demonstration Expansion and Execution Design
Jingxu Gu, Dongze Lian
Fine-grained manipulation requires a robot policy to follow instructions, remain robust to visual variations, and translate predicted actions into precise robot control. We present…
Occlusion-Aware, Quasi-Static, Stability-Oriented Trajectory Planning on Uneven Terrain
Amith Manoharan, Chinmay Mundane, Aayush Bahukhandi +3
Autonomous navigation in unstructured off-road environments requires reasoning about both vehicle--terrain interaction and environmental unknowns. We propose a model-based framewor…
MPPI Planning with Gaussian-Based Human Cost Function for Social Navigation
Chinmay Mundane
Safe robot navigation in crowded spaces requires planning that accounts for where people will be, not only where they are now. Model Predictive Path Integral (MPPI) control is an e…
Momentum Based Reward Design for Low Emission Traffic Signal Control
Chinmay Mundane, Amith Manoharan, Arun Kumar Singh
Urban traffic congestion is a growing global issue contributing significantly to long commute times and environmental pollution. Traditional traffic signal control systems often fa…