Explanipedia

Digital Twin-Enabled Adaptive Robotics: Leveraging Large Language Models in Isaac Sim for Unstructured Environments Open

Sanjay Nambiar, Rohan Paul, Oscar Chigozie Ikechukwu, Marie Jonsson, Mehdi Tarkian · 2025

As industrial automation evolves towards human-centric, adaptable solutions, collaborative robots must overcome challenges in unstructured, dynamic environments. This paper extends our previous work on developing a digital shadow for indus…

G$^{2}$TR: Generalized Grounded Temporal Reasoning for Robot Instruction Following by Combining Large Pre-trained Models Open

Riya Arora, Niveditha Narendranath, Aman Tambi, Susan Zachariah, Souvik Chakraborty , et al. · 2024

Consider the scenario where a human cleans a table and a robot observing the scene is instructed with the task "Remove the cloth using which I wiped the table". Instruction following with temporal reasoning requires the robot to identify t…

Single Cell Sequencing and Spatial Transcriptomics in Kidney Transplantation Open

Rohan Paul, Carl Atkinson, Andrew F. Malone · 2024

Purpose of Review Progress in biology and medicine relies on technological advances. The ability to examine gene expression from single cells in tissues with complex architecture is now possible with the advent of single cell sequencing an…

Learning to Recover from Plan Execution Errors during Robot Manipulation: A Neuro-symbolic Approach Open

Namasivayam Kalithasan, Arnav Tuli, Vishal Bindal, Himanshu Singh, Parag Singla , et al. · 2024

Automatically detecting and recovering from failures is an important but challenging problem for autonomous robots. Most of the recent work on learning to plan from demonstrations lacks the ability to detect and recover from errors in the …

PhyPlan: Generalizable and Rapid Physical Task Planning with Physics Informed Skill Networks for Robot Manipulators Open

Mudit Chopra, Abhinav Barnawal, Harshil Vagadia, Tamajit Banerjee, Shreshth Tuli , et al. · 2024

Given the task of positioning a ball-like object to a goal region beyond direct reach, humans can often throw, slide, or rebound objects against the wall to attain the goal. However, enabling robots to reason similarly is non-trivial. Exis…

Sketch-Plan-Generalize: Learning and Planning with Neuro-Symbolic Programmatic Representations for Inductive Spatial Concepts Open

Namasivayam Kalithasan, Sachit Sachdeva, Himanshu Singh, Divyanshu Aggarwal, Gurarmaan Singh Panjeta , et al. · 2024

Effective human-robot collaboration requires the ability to learn personalized concepts from a limited number of demonstrations, while exhibiting inductive generalization, hierarchical composition, and adaptability to novel constraints. Ex…

Uncertainty-aware Active Learning of NeRF-based Object Models for Robot Manipulators using Visual and Re-orientation Actions Open

Saptarshi Dasgupta, Akshat Gupta, Shreshth Tuli, Rohan Paul · 2024

Manipulating unseen objects is challenging without a 3D representation, as objects generally have occluded surfaces. This requires physical interaction with objects to build their internal representations. This paper presents an approach t…

GOALNET: Interleaving Neural Goal Predicate Inference with Classical Planning for Generalization in Robot Instruction Following Open

Jigyasa Gupta, Shreya Sharma, Shreshth Tuli, Rohan Paul, Mausam Mausam · 2024

Our goal is to enable a robot to learn how to sequence its actions to perform high-level tasks specified as natural language instructions, given successful demonstrations from a human partner. Our novel neuro-symbolic solution GOALNET buil…

PhyPlan: Compositional and Adaptive Physical Task Reasoning with Physics-Informed Skill Networks for Robot Manipulators Open

Harshil Vagadia, Mudit Chopra, Abhinav Barnawal, Tamajit Banerjee, Shreshth Tuli , et al. · 2024

Given the task of positioning a ball-like object to a goal region beyond direct reach, humans can often throw, slide, or rebound objects against the wall to attain the goal. However, enabling robots to reason similarly is non-trivial. Exis…

TOOLTANGO: Common sense Generalization in Predicting Sequential Tool Interactions for Robot Plan Synthesis Open

Shreshth Tuli, Rajas Bansal, Rohan Paul, Mausam Mausam · 2022

Robots assisting us in environments such as factories or homes must learn to make use of objects as tools to perform tasks, for instance, using a tray to carry objects. We consider the problem of learning common sense knowledge of when a t…

Learning Neuro-symbolic Programs for Language Guided Robot Manipulation Open

Namasivayam Kalithasan, Himanshu Singh, Vishal Bindal, Arnav Tuli, Vishwajeet Agrawal , et al. · 2022

Given a natural language instruction and an input scene, our goal is to train a model to output a manipulation program that can be executed by the robot. Prior approaches for this task possess one of the following limitations: (i) rely on …

ToolTango: Common sense Generalization in Predicting Sequential Tool Interactions for Robot Plan Synthesis Open

Shreshth Tuli, Rajas Bansal, Rohan Paul, Mausam Mausam · 2022

Robots assisting us in environments such as factories or homes must learn to make use of objects as tools to perform tasks, for instance using a tray to carry objects. We consider the problem of learning commonsense knowledge of when a too…

GoalNet: Inferring Conjunctive Goal Predicates from Human Plan Demonstrations for Robot Instruction Following Open

Shreya Sharma, Jigyasa Gupta, Shreshth Tuli, Rohan Paul, Mausam Mausam · 2022

Our goal is to enable a robot to learn how to sequence its actions to perform tasks specified as natural language instructions, given successful demonstrations from a human partner. The ability to plan high-level tasks can be factored as (…

Parsing Outdoor Scenes from Streamed 3D Laser Data Using Online Clustering and Incremental Belief Updates Open

Rudolph Triebel, Rohan Paul, Daniela Rus, Paul Newman · 2021

In this paper, we address the problem of continually parsing a stream of 3D point cloud data acquired from a laser sensor mounted on a road vehicle. We leverage an online star clustering algorithm coupled with an incremental belief update …

Open Source Software for Automatic Subregional Assessment of Knee Cartilage Degradation Using Quantitative T2 Relaxometry and Deep Learning Open

Kevin A. Thomas, Dominik Krzemiński, Łukasz Kidziński, Rohan Paul, Elka Rubin , et al. · 2021

Objective We evaluated a fully automated femoral cartilage segmentation model for measuring T2 relaxation values and longitudinal changes using multi-echo spin-echo (MESE) magnetic resonance imaging (MRI). We open sourced this model and de…

TANGO: Commonsense Generalization in Predicting Tool Interactions for Mobile Manipulators Open

Shreshth Tuli, Rajas Bansal, Rohan Paul · 2021

Robots assisting us in factories or homes must learn to make use of objects as tools to perform tasks, e.g., a tray for carrying objects. We consider the problem of learning commonsense knowledge of when a tool may be useful and how its us…

TANGO: Commonsense Generalization in Predicting Tool Interactions for\n Mobile Manipulators Open

Shreshth Tuli, Rajas Bansal, Rohan Paul, Mausam Mausam · 2021

Robots assisting us in factories or homes must learn to make use of objects\nas tools to perform tasks, e.g., a tray for carrying objects. We consider the\nproblem of learning commonsense knowledge of when a tool may be useful and how\nits…

Multi-facet Universal Schema Open

Rohan Paul, Haw-Shiuan Chang, Andrew McCallum · 2021

Universal schema (USchema) assumes that two sentence patterns that share the same entity pairs are similar to each other. This assumption is widely adopted for solving various types of relation extraction (RE) tasks. Nevertheless, each sen…

Donor-derived Cell-free DNA: Advancing a Novel Assay to New Heights in Renal Transplantation Open

Rohan Paul, Ismail Almokayad, Ashté Collins, Dominic S. Raj, Muralidaran Jagadeesan · 2021

Despite advances in transplant immunosuppression, long-term renal allograft outcomes remain suboptimal because of the occurrence of rejection, recurrent disease, and interstitial fibrosis with tubular atrophy. This is largely due to limita…

Precision Medicine in Kidney Transplantation: Just Hype or a Realistic Hope? Open

Ehsan Nobakht, Muralidharan Jagadeesan, Rohan Paul, Jonathan S. Bromberg, Sherry Dadgar · 2021

Desirable outcomes including rejection- and infection-free kidney transplantation are not guaranteed despite current strategies for immunosuppression and using prophylactic antimicrobial medications. Graft survival depends on factors beyon…

Multi-facet Universal Schema Open

Rohan Paul, Haw-Shiuan Chang, Andrew McCallum · 2021

Universal schema (USchema) assumes that two sentence patterns that share the same entity pairs are similar to each other. This assumption is widely adopted for solving various types of relation extraction (RE) tasks. Nevertheless, each sen…

Open source software for automatic subregional assessment of knee\n cartilage degradation using quantitative T2 relaxometry and deep learning Open

Kevin A. Thomas, Dominik Krzemiński, Łukasz Kidziński, Rohan Paul, Elka Rubin , et al. · 2020

Objective: We evaluate a fully-automated femoral cartilage segmentation model\nfor measuring T2 relaxation values and longitudinal changes using multi-echo\nspin echo (MESE) MRI. We have open sourced this model and corresponding\nsegmentat…

Phenotyping severity of patient‐centered outcomes using clinical notes: A prostate cancer use case Open

Selen Bozkurt, Rohan Paul, Jean Coquet, Ran Sun, Imon Banerjee , et al. · 2020

Introduction A learning health system (LHS) must improve care in ways that are meaningful to patients, integrating patient‐centered outcomes (PCOs) into core infrastructure. PCOs are common following cancer treatment, such as urinary incon…

ToolNet: Using Commonsense Generalization for Predicting Tool Use for Robot Plan Synthesis Open

Rajas Bansal, Shreshth Tuli, Rohan Paul · 2020

A robot working in a physical environment (like home or factory) needs to learn to use various available tools for accomplishing different tasks, for instance, a mop for cleaning and a tray for carrying objects. The number of possible tool…

ToolNet: Using Commonsense Generalization for Predicting Tool Use for\n Robot Plan Synthesis Open

Rajas Bansal, Shreshth Tuli, Rohan Paul, Mausam Mausam · 2020

A robot working in a physical environment (like home or factory) needs to\nlearn to use various available tools for accomplishing different tasks, for\ninstance, a mop for cleaning and a tray for carrying objects. The number of\npossible t…

SUN-084 Assessment of malnutrition and protein energy wasting (PEW) in Indian children with chronic kidney disease(CKD) Open

Arpana Iyengar, Rohan Paul, Archana Vasudevan · 2020

Iron deficiency is common in individuals with chronic kidney disease and plays a major role in the development of anemia.Oral and intravenous iron agents are both available to replete iron in patients with chronic kidney disease diagnosed …

Leveraging Past References for Robust Language Grounding Open

Subhro Roy, Michael D. Noseworthy, Rohan Paul, Daehyung Park, Nicholas Roy · 2019

Grounding referring expressions to objects in an environment has traditionally been considered a one-off, ahistorical task. However, in realistic applications of grounding, multiple users will repeatedly refer to the same set of objects. A…

Grounding Abstract Spatial Concepts for Language Interaction with Robots Open

Rohan Paul, Jacob Arkin, Nicholas Roy, Thomas M. Howard · 2017

Our goal is to develop models that allow a robot to understand or ``ground" natural language instructionsin the context of its world model. Contemporary approaches estimate correspondences between an instruction and possible candidate grou…

Temporal Grounding Graphs for Language Understanding with Accrued Visual-Linguistic Context Open

Rohan Paul, Andrei Barbu, Sue Felshin, Boris Katz, Nicholas Roy · 2017

A robot’s ability to understand or ground natural language instructions is fundamentally tied to its knowledge about the surrounding world. We present an approach to grounding natural language utterances in the context of factual informati…

Assistive technology solutions for aiding travel of pedestrians with visual impairment Open

Piyush Chanana, Rohan Paul, S. Balakrishnan, P. V. M. Rao · 2017

This work systematically reviews the assistive technology solutions for pedestrians with visual impairment and reveals that most of the existing solutions address a specific part of the travel problem. Technology-centered approach with lim…

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