65 citations · 172 across the 14 of their papers we have counts for
15 papers
SE(3) Neural Potential Fields for 6-DoF Trajectory Planning Directly from Images Without Explicit 3D Reconstruction
Jeffrey Eiyike, Masoud Ataei, Elvis Gyaase +1
Reaching a 6-DoF grasp pose in clutter requires a collision-free trajectory, conventionally obtained by reconstructing the scene in 3D and planning inside that reconstruction, at t…
Draining Fictitious Knots: Restoring Distance-Awareness Guarantees for High-Dimensional Spline Networks
Masoud Ataei, Mohammad Javad Khojasteh, Vikas Dhiman
Kolmogorov-Arnold Networks (KANs) with spline activations have recently shown promise for interpretable function approximation. Distance-Aware Error for Kolmogorov Networks (DAREK)…
Engagement-Aware Agentic Pursuit-Evasion
Ananya Acharya, Trenton Goyette, Masoud Ataei +3
This paper presents a hierarchical multi-agent architecture in which independent large language model (LLM) planners perform strategic role assignment for attacking and defending r…
Safe Control Synthesis with Uncertain Dynamics and Constraints
Kehan Long, Vikas Dhiman, Melvin Leok +2
This paper considers safe control synthesis for dynamical systems with either probabilistic or worst-case uncertainty in both the dynamics model and the safety constraints. We form…
Inverse reinforcement learning for autonomous navigation via differentiable semantic mapping and planning
Tianyu Wang, Vikas Dhiman, Nikolay Atanasov
This paper focuses on inverse reinforcement learning for autonomous navigation using distance and semantic category observations. The objective is to infer a cost function that exp…
Control Barriers in Bayesian Learning of System Dynamics
Vikas Dhiman, Mohammad Javad Khojasteh, Massimo Franceschetti +1
This paper focuses on learning a model of system dynamics online while satisfying safety constraints. Our objective is to avoid offline system identification or hand-specified mode…