Author

Shiv Kumar

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Preprint Sep 2026

CaSCo: Cascade-Aware Soft-Collision Motion Planning

Conventional motion planning treats collision as a binary constraint, although contact with different objects can have drastically different consequences. A robot may safely brush against a cardboard box while even minor contact with a glass, laptop, or unstable object may be undesirable. Moreover, a direct robot--obje...

Shiv Kumar, Gao-Yuan Liu, Yoonchang Sung · 0 citations

Preprint Sep 2026

Imagine-TAMP: Imagination-Guided Task and Motion Planning in Partial Observability

Imagine-TAMP is introduced, an interleaved planning and execution framework that uses semantic and geometric imagination to compare alternative task-level strategies under partial observability before committing to expensive motion planning and experiments show that imagination-guided evaluation improves observation-ve...

Antareep Singha, Shiv Kumar, Yoonwoo Kim et al. · 0 citations

Open access Aug 2026

Lightweight multi task learning for joint birds eye view instance mapping and trajectory prediction

BEV-IMTP is presented, a lightweight instance mapping and trajectory prediction network designed for Bird's-Eye-View representations that achieves a 4.6% improvement in semantic map mIoU and a 1.8% gain in instance motion mIoU compared to state-of-the-art methods.

N. Harivinod, S. Abhilash, M. Muneshwara et al. · Discover Artificial Intellig... · 0 citations