Journal Papers
[J7] An Intelligence Architecture for Grounded Language Communication with Field Robots
Journal of Field Robotics (JFR), 2022
[PDF]
[J6] TOOLTANGO: Common sense Generalization in Predicting Sequential Tool Interactions for Robot Plan Synthesis
Journal of Artificial Intelligence Research (JAIR) : 1595-1631, 2022
[PDF]
[J4] Efficient Grounding Abstract Spatial Concepts for Natural Language Interaction with
Robot Platforms
International Journal of Robotics Research (IJRR), 2017
[PDF]
[J3] Introspective Classification for Lifelong Semantic Mapping
International Journal of Robotics Research (IJRR), 2015
[PDF]
[PDF]
[J2] Seeking Out Perplexing Images for Ever Improving Navigation
International Journal of Robotics Research (IJRR), 2013
Special Issue on Lifelong Learning for Robotics
[PDF]
[J1] The New College Data Set 2.2 km of Vision and Laser Data
Conference Papers
[C32] Unsupervised Learning of Neuro-symbolic Rules for Generalizable Context-aware Planning in Object Arrangement Tasks
To appear in International Conference on Robotics and Automation (ICRA), 2024
[Webpage]
[C31] GoalNet: Inferring Conjunctive Goal Predicates from Human Plan Demonstrations for Robot Instruction Following
The 38th Annual AAAI Conference on Artificial Intelligence, 2024
[PDF]
[PDF]
[C30] Embedded AI system for Predicting and Correcting the Sensor-orientation of an Electronic Travel Aid during use by a Visually Impaired Person
International Conference on Computers Helping People with Special Needs (ICCHP), 2024 (To appear in Lecture Notes in Computer Science (LNCS) Track)
[C29] Development and Assessment of Inclusive Tangible Shape Nets to Bridge Geometry Gaps for the Visually Impaired
International Conference on Computers Helping People with Special Needs (ICCHP), 2024 (To appear in Open Access Compendium (OAC) Track)
[C28] Learning Neuro-symbolic Programs for Language Guided Robot Manipulation
International Conference on Robotics and Automation (ICRA), 2023
[Webpage]
[Webpage]
[C27] TANGO: Commonsense Generalization in Predicting Tool Interactions for Mobile Manipulators
Thirtieth International Joint Conference on Artificial Intelligence(IJCAI-21), 2021
[PDF]
[PDF]
[C26] Leveraging Past References for Robust Language Grounding
Conference on Computational Natural Language Learning (CoNLL), 2019
[PDF]
[PDF]
[C25] Inferring Task Goals and Constraints using Bayesian Nonparametric Inverse Reinforcement Learning
Conference on Robot Learning (CoRL), 2019
[PDF]
[C24] Task-Conditioned Variational Autoencoders for Learning Movement
Primitives
Conference on Robot Learning (CoRL), 2019
[PDF]
[C21] Grounding Natural Language Instructions with Unknown
Object References using Learned
Visual Attributes
AAAI Fall Symposium on Natural Communication for
Human-Robot Collaboration,
2017
[PDF]
[PDF]
[C20] Grounding Abstract Spatial Concepts for Language
Interaction with Robots
International Joint Conference on Artificial
Intelligence (IJCAI), 2017
Invited Contribution for the Sister Conference
Best Paper Track
[PDF]
[C16] A Compliant Mechanism Design for Refreshable Braille
Display Using Shape Memory Alloy
ASME International Conference on Mechatronics
and Embedded Systems and
Applications (MESA). 2015
[PDF]
[PDF]
[C15] Visual Precis Generation using Coresets
IEEE International Conference on Robotics and
Automation (ICRA), Hong Kong. 2014
[PDF]
[PDF]
[C14] Edutactile: A Tool for Rapid Generation of Accurate
Guideline-compliant Tactile
Graphics for Science and Mathematics
International Conference on Computers Helping
People with Special Needs (ICCHP),
2014
[PDF]
[PDF]
[C13] Design of an Affordable, Multi-modal, Interactive
Braille Tutor System
International Conference on Blindness,
Technology and Multi-modal Reading,
2014
[PDF]
[PDF]
[C12] Dealing with Shadows: Capturing Intrinsic Scene
Appearance for Image-based Outdoor
Localisation
[C11] Knowing When We Don’t Know: Introspective
Classification for Mission-Critical
Decision Making
IEEE International Conference on Robotics and
Automation (ICRA), 2013
[PDF]
[PDF]
[C10] Driven Learning for Driving: How Introspection
Improves Semantic Mapping
International Symposium on Robotics Research
(ISRR), 2013
[PDF]
[PDF]
[C9] An Indoor Path-guidance and Navigation System for the
Visually Impaired
ACM SIGACCESS Conference on Computers and
Accessibility (ASSETS), 2013
[PDF]
[PDF]
[C8] Application of Shape Memory Alloy (SMA) Based
Actuation for Refreshable Display of
Braille
ASME International Design Engineering Technical
Conferences & Computers and
Information in Engineering Conference IDETC/CIE, 2013
[PDF]
[PDF]
[C7] Parsing Outdoor Scenes from Streamed 3D Laser Data
Using Online Clustering and
Incremental Belief Updates
American Association of Artificial Intelligence
(AAAI) Conference, 2012
[PDF]
[PDF]
[C6] How was your day? Online Visual Workspace Summaries
using Incremental Clustering in
Topic Space
IEEE International Conference on Robotics and
Automation (ICRA), 2012
[PDF]
[PDF]
[C5] Semantic Categorization of Outdoor Scenes with
Uncertainty Estimates using
Multi-Class Gaussian Process Classification
International Conference on Intelligent Robots
and Systems (IROS), 2012
[PDF]
[PDF]
[C4] Design and User Testing of an Affordable Cellphone
based Indoor Navigation System for
the Visually Impaired
International Conference on Mobility and
Transport for Elderly and Disabled
Persons (TRANSED), 2012
Best Paper Award
[PDF]
[C3] Self-Help: Seeking Out Perplexing Images for Ever
Improving Navigation
IEEE International Conference on Robotics and
Automation (ICRA), 2011
[PDF]
[PDF]
[C2] FABMAP3D: Topological Mapping with Visual and Spatial
Appearance
IEEE International Conference on Robotics and
Automation (ICRA), 2010
Best Vision Paper Finalist
[PDF]
[C1] SmartCane for the Visually Impaired: Design and
Controlled Field Testing of an
Affordable Obstacle Detection System
International Conference on Mobility and
Transport for Elderly and Disabled
Persons (TRANSED), 2010
Best Conference Paper
[PDF]
Peer-reviewed Workshops Papers
[WS18] Generating Multi-hierarchy Scene Graphs for Human-instructed Manipulation Tasks in Open-world Settings
To appear in the Workshop on Mobile Manipulation and Embodied Intelligence at the International Conference on Robotics and Automation (ICRA) 2024
[Web]
[Web]
[WS17] Uncertainty-aware Active Learning of NeRF-based Object Models for Robot Manipulators using Visual and Re-orientation Actions
To appear in the Workshop on Neural Fields in Robotics (RoboNerF) at the International Conference on Robotics and Automation (ICRA) 2024
[Web]
[Web]
[WS16] Generalized Grounded Temporal Reasoning with Foundation Models for Language-guided Robot Manipulation
To appear in the Workshop on Towards Collaborative Partners: Design, Shared Control, and Robot Learning for Physical Human-Robot Interaction (pHRI) at the International Conference on Robotics and Automation (ICRA) 2024
[PDF]
[PDF]
[WS15] Orientation Prediction with a Cane-wearable Device for Safe Cane Mobility by Persons with Visual Impairment
To appear in the Workshop on Advancing wearable devices and applications through novel design, sensing, actuation, and AI at the International Conference on Robotics and Automation (ICRA) 2024
[WS14] Improving Accessibility in Programming Environments whlie Learning to Program for Visually Challenged College Students
To appear in the Innovation Track at the International Conference on Computers Helping People with Special Needs (ICCHP) 2024
[WS13] Learning Neuro-symbolic Programs for Language-Guided Robotic Manipulation
Workshop in Neuro Causal and Symbolic AI in Neural Information Processing Conference 2022
[WS12] GoalNet: Inferring Conjunctive Goal Predicates from Human Plan Demonstrations for Robot Instruction Following
Workshop: Bridging the Gap Between AI Planning and Reinforcement Learning held at the International Conference on Automated Planning (ICAPS) 2022
[WS11] ToolNet: Using Commonsense Generalization for Predicting Tool Use for Robot Plan Synthesis
Robotics Science and Systems Conference: Workshop on Imitation Learning, July 2020
[WS10] Learning Generalizable Task Policies for Embodied Agents in Domains with Rich Inter-object Interactions
Conference on Robot Learning Workshop 2022
Website
Website
[WS9] Temporal Grounding Graphs for Language Understanding
with Accrued Visual-Linguistic
Context
1st Workshop on Language Grounding in
Robotics
American Computational Linguistics (ACL) Conference, 2017
American Computational Linguistics (ACL) Conference, 2017
[WS8] Grounding Spatial Concepts for Autonomous Mobile
Robots.
8th International Conference on Applied Human
Factors and Ergonomics (AHFE),
June 2017
[WS7] Knowing When We Don’t Know: Introspective
Classification for Robust Decision Making
in Mission-Critical Scenarios.
Reinforcement Learning and Decision Making
(RLDM), 2013
[PDF]
[PDF]
[WS6] Introspective Active Learning for Scalable Semantic
Mapping
Workshop on Active Learning in Robotics:
Exploration, Curiosity, and Interaction
Robotics: Science and Systems (RSS), 2013
[PDF]
[PDF]
[WS5] Parsing Outdoor Scenes from Streamed 3D Laser Data
Using Online Clustering and
Incremental Belief Updates
International Conference on Intelligent Robots and Systems (IROS), 2012
International Conference on Intelligent Robots and Systems (IROS), 2012
Lifelong Learning for Mobile Robotics
Applications
International Conference on Intelligent Robots and Systems (IROS), 2012
International Conference on Intelligent Robots and Systems (IROS), 2012
[WS4] Topological Mapping with Vision and Laser
Annual Meeting of the Royal Institute of
Navigation (RIN), UK, 2012
[WS3] Self Help: Seeking Out Perplexing Images for Ever
Improving Navigation
Workshop on Lifelong Autonomy and
Exploration.
IEEE International Conference on Robotics and Automation (ICRA), 2011
IEEE International Conference on Robotics and Automation (ICRA), 2011
[WS2] Leveraging 3D Information for Topological Mapping
with Vision and Laser
RGB-D Workshop on 3D Perception in Robotics.
European Robotics Forum, 2011.
European Robotics Forum, 2011.
[WS1] FABMAP 3D: Topological Mapping with Vision and Laser
Mapping with RGB-D Cameras.
Robotics: Science and Systems (RSS) Workshop, 2010.
Robotics: Science and Systems (RSS) Workshop, 2010.
Dissertations
D. Phil. Thesis
Long Term Appearance-Based Mapping with Vision and Laser
Long Term Appearance-Based Mapping with Vision and Laser
Mobile Robotics Group. Department of Engineering
Science, University of Oxford,
UK
[PDF]
[PDF]
Dual Degree Thesis
Knee-above Obstacle Detection System and User-triggered Bus Identification System for the Visually Impaired.
Knee-above Obstacle Detection System and User-triggered Bus Identification System for the Visually Impaired.
Department of Computer Science and Engineering, Indian Institute of Technology Delhi, India
[PDF]
[PDF]