Author

Saurbh Singh Jamwal

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Preprint Sep 2026

PerSeM: Persistent Semantic Memory for Long-Horizon Open-Vocabulary UAV Mapping

Open-vocabulary segmentation enables rich semantic perception for UAVs, but frame-wise predictions can remain temporally inconsistent across repeated observations and changing viewpoints. We present PerSeM, a training-free persistent semantic memory framework for long-horizon open-vocabulary UAV mapping. PerSeM associa...

Saurbh Singh Jamwal, Ganesh Ramakrishnan · 0 citations

Preprint Sep 2026

Decentralized Multi-Robot Exploration with Probabilistic Peer Intent and Multi-hop Plan Propagation

Efficient coordination under limited communication remains a key challenge in decentralized multi-robot exploration. While centralized approaches benefit from global information sharing, they are often impractical in large-scale or communication-constrained environments. Existing Monte Carlo Tree Search (MCTS)-based ap...

Saurbh Singh Jamwal, Nived Chebrolu, Shivaram Kalyanakrishnan · 0 citations

#machine learning Preprint Sep 2026

Learning to Fly: Stable Vision-Guided UAV Servoing with Compact Target-Centric Cues and Reinforcement Learning

The results demonstrate that compact target-centric representations can support robust long-horizon aerial visual servoing and that visual curriculum training can improve robustness to dynamic distribution shifts despite limited gains in nominal performance.

Saurbh Singh Jamwal, Nived Chebrolu · 0 citations