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cs.RO2025
Belief-Conditioned One-Step Diffusion: Real-Time Trajectory Planning with Just-Enough Sensing
Gokul Puthumanaillam, Aditya Penumarti, Manav Vora +5
Robots equipped with rich sensor suites can localize reliably in partially-observable environments, but powering every sensor continuously is wasteful and often infeasible. Belief-…
cs.RO2025
Motion Planning and Control with Unknown Nonlinear Dynamics through Predicted Reachability
Zhiquan Zhang, Gokul Puthumanaillam, Manav Vora +1
Autonomous motion planning under unknown nonlinear dynamics presents significant challenges. An agent needs to continuously explore the system dynamics to acquire its properties, s…
cs.RO2024
ComTraQ-MPC: Meta-Trained DQN-MPC Integration for Trajectory Tracking with Limited Active Localization Updates
Gokul Puthumanaillam, Manav Vora, Melkior Ornik
Optimal decision-making for trajectory tracking in partially observable, stochastic environments where the number of active localization updates -- the process by which the agent o…