4 citations · 4 across the 23 of their papers we have counts for
16 papers · 1 filter
Safe, Real-Time Active Model Discrimination and Fault Diagnosis for Nonlinear Systems via Differentiable Reachability
Xinpei Ni, Melkior Ornik, Glen Chou +1
We present a safe, real-time algorithm for active fault diagnosis and model discrimination for uncertain continuous-time nonlinear systems with process and measurement disturbances…
When Should a Robot Replan? Regret-Guided Update Scheduling in Time-Varying MDPs
Negin Musavi, Gokul Puthumanaillam, Ruben Hernandez +2
Robots operating in non-stationary environments must continually adapt their policies as the dynamics drift, but onboard energy and compute budgets cap how often a full state estim…
Task-Aware Environment Augmentation for Reliable Navigation via Shielded Conditional Diffusion
Bharawee Phoompho, Gokul Puthumanaillam, Yan Miao +4
Reliable trajectory planning under partial observability depends not only on computing a feasible geometric path, but also on whether the robot receives informative observations wh…
Trajectory-Level Redirection Attacks on Vision-Language-Action Models
Gokul Puthumanaillam, Vardhan Dongre, Pranay Thangeda +3
Vision-language-action (VLA) policies bring natural language into closed-loop robot control, enabling robots to execute manipulation tasks directly from text instructions. The same…
Hierarchical Motion Planning and Control under Unknown Nonlinear Dynamics via Predicted Reachability
Zhiquan Zhang, Melkior Ornik
Autonomous motion planning under unknown nonlinear dynamics requires learning system properties while navigating toward a target. In this work, we develop a hierarchical planning-c…
Amortizing Trajectory Diffusion with Keyed Drift Fields
Gokul Puthumanaillam, Melkior Ornik
Diffusion-based trajectory planners can synthesize rich, multimodal action sequences for offline reinforcement learning, but their iterative denoising incurs substantial inference-…