Kasun Weerakoon

According to our database, Kasun Weerakoon authored at least 29 papers between 2017 and 2024.

Collaborative distances:

• Dijkstra number of four.
• Erdős number of four.

2024

ProNav: Proprioceptive Traversability Estimation for Legged Robot Navigation in Outdoor Environments.

Mohamed Elnoor, Adarsh Jagan Sathyamoorthy, Kasun Weerakoon, Dinesh Manocha

IEEE Robotics Autom. Lett., August, 2024

Robot Navigation Using Physically Grounded Vision-Language Models in Outdoor Environments.

Mohamed Elnoor, Kasun Weerakoon, Gershom Seneviratne, Ruiqi Xian, Tianrui Guan, Mohamed Khalid M. Jaffar, Vignesh Rajagopal, Dinesh Manocha

CoRR, 2024

CROSS-GAiT: Cross-Attention-Based Multimodal Representation Fusion for Parametric Gait Adaptation in Complex Terrains.

Gershom Seneviratne, Kasun Weerakoon, Mohamed Elnoor, Vignesh Rajagopal, Harshavarthan Varatharajan, Mohamed Khalid M. Jaffar, Jason Pusey, Dinesh Manocha

CoRR, 2024

BehAV: Behavioral Rule Guided Autonomy Using VLMs for Robot Navigation in Outdoor Scenes.

Kasun Weerakoon, Mohamed Elnoor, Gershom Seneviratne, Vignesh Rajagopal, Senthil Hariharan Arul, Jing Liang, Mohamed Khalid M. Jaffar, Dinesh Manocha

CoRR, 2024

TOPGN: Real-time Transparent Obstacle Detection using Lidar Point Cloud Intensity for Autonomous Robot Navigation.

Kasun Weerakoon, Adarsh Jagan Sathyamoorthy, Mohamed Elnoor, Anuj Zore, Dinesh Manocha

CoRR, 2024

CoNVOI: Context-aware Navigation using Vision Language Models in Outdoor and Indoor Environments.

Adarsh Jagan Sathyamoorthy, Kasun Weerakoon, Mohamed Elnoor, Anuj Zore, Brian Ichter, Fei Xia, Jie Tan, Wenhao Yu, Dinesh Manocha

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2024

AMCO: Adaptive Multimodal Coupling of Vision and Proprioception for Quadruped Robot Navigation in Outdoor Environments.

Mohamed Elnoor, Kasun Weerakoon, Adarsh Jagan Sathyamoorthy, Tianrui Guan, Vignesh Rajagopal, Dinesh Manocha

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2024

VAPOR: Legged Robot Navigation in Unstructured Outdoor Environments using Offline Reinforcement Learning.

Kasun Weerakoon, Adarsh Jagan Sathyamoorthy, Mohamed Elnoor, Dinesh Manocha

Proceedings of the IEEE International Conference on Robotics and Automation, 2024

MIM: Indoor and Outdoor Navigation in Complex Environments Using Multi-Layer Intensity Maps.

Adarsh Jagan Sathyamoorthy, Kasun Weerakoon, Mohamed Elnoor, Mason Russell, Jason L. Pusey, Dinesh Manocha

Proceedings of the IEEE International Conference on Robotics and Automation, 2024

2023

GrASPE: Graph Based Multimodal Fusion for Robot Navigation in Outdoor Environments.

Kasun Weerakoon, Adarsh Jagan Sathyamoorthy, Jing Liang, Tianrui Guan, Utsav Patel, Dinesh Manocha

IEEE Robotics Autom. Lett., December, 2023

AdaptiveON: Adaptive Outdoor Local Navigation Method for Stable and Reliable Actions.

Jing Liang, Kasun Weerakoon, Tianrui Guan, Nare Karapetyan, Dinesh Manocha

IEEE Robotics Autom. Lett., 2023

VAPOR: Legged Robot Navigation in Outdoor Vegetation Using Offline Reinforcement Learning.

Kasun Weerakoon, Adarsh Jagan Sathyamoorthy, Mohamed Elnoor, Dinesh Manocha

CoRR, 2023

Using Lidar Intensity for Robot Navigation.

Adarsh Jagan Sathyamoorthy, Kasun Weerakoon, Mohamed Elnoor, Dinesh Manocha

CoRR, 2023

Ada-NAV: Adaptive Trajectory-Based Sample Efficient Policy Learning for Robotic Navigation.

Bhrij Patel, Kasun Weerakoon, Wesley A. Suttle, Alec Koppel, Brian M. Sadler, Amrit Singh Bedi, Dinesh Manocha

CoRR, 2023

RE-MOVE: An Adaptive Policy Design Approach for Dynamic Environments via Language-Based Feedback.

Souradip Chakraborty, Kasun Weerakoon, Prithvi Poddar, Pratap Tokekar, Amrit Singh Bedi, Dinesh Manocha

CoRR, 2023

AdVENTR: Autonomous Robot Navigation in Complex Outdoor Environments.

Kasun Weerakoon, Adarsh Jagan Sathyamoorthy, Mohamed Elnoor, Dinesh Manocha

Proceedings of the Experimental Robotics - The 18th International Symposium, 2023

VERN: Vegetation-Aware Robot Navigation in Dense Unstructured Outdoor Environments.

Adarsh Jagan Sathyamoorthy, Kasun Weerakoon, Tianrui Guan, Mason Russell, Damon Conover, Jason L. Pusey, Dinesh Manocha

IROS, 2023

Dealing with Sparse Rewards in Continuous Control Robotics via Heavy-Tailed Policy Optimization.

Souradip Chakraborty, Amrit Singh Bedi, Kasun Weerakoon, Prithvi Poddar, Alec Koppel, Pratap Tokekar, Dinesh Manocha

Proceedings of the IEEE International Conference on Robotics and Automation, 2023

2022

GA-Nav: Efficient Terrain Segmentation for Robot Navigation in Unstructured Outdoor Environments.

Tianrui Guan, Divya Kothandaraman, Rohan Chandra, Adarsh Jagan Sathyamoorthy, Kasun Weerakoon, Dinesh Manocha

IEEE Robotics Autom. Lett., 2022

GrASPE: Graph based Multimodal Fusion for Robot Navigation in Unstructured Outdoor Environments.

Kasun Weerakoon, Adarsh Jagan Sathyamoorthy, Jing Liang, Tianrui Guan, Utsav Patel, Dinesh Manocha

CoRR, 2022

Sim-to-Real Strategy for Spatially Aware Robot Navigation in Uneven Outdoor Environments.

Kasun Weerakoon, Adarsh Jagan Sathyamoorthy, Dinesh Manocha

CoRR, 2022

AdaptiveON: Adaptive Outdoor Navigation Method For Stable and Reliable Actions.

Jing Liang, Kasun Weerakoon, Tianrui Guan, Nare Karapetyan, Dinesh Manocha

CoRR, 2022

TerraPN: Unstructured terrain navigation through Online Self-Supervised Learning.

Adarsh Jagan Sathyamoorthy, Kasun Weerakoon, Tianrui Guan, Jing Liang, Dinesh Manocha

CoRR, 2022

TerraPN: Unstructured Terrain Navigation using Online Self-Supervised Learning.

Adarsh Jagan Sathyamoorthy, Kasun Weerakoon, Tianrui Guan, Jing Liang, Dinesh Manocha

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2022

TERP: Reliable Planning in Uneven Outdoor Environments using Deep Reinforcement Learning.

Kasun Weerakoon, Adarsh Jagan Sathyamoorthy, Utsav Patel, Dinesh Manocha

Proceedings of the 2022 International Conference on Robotics and Automation, 2022

HTRON: Efficient Outdoor Navigation with Sparse Rewards via Heavy Tailed Adaptive Reinforce Algorithm.

Kasun Weerakoon, Souradip Chakraborty, Nare Karapetyan, Adarsh Jagan Sathyamoorthy, Amrit S. Bedi, Dinesh Manocha

Proceedings of the Conference on Robot Learning, 2022

2020

Graph-Based Blind Hyperspectral Unmixing via Nonnegative Matrix Factorization.

Bhathiya Rathnayake, E. M. M. B. Ekanayake, Kasun Weerakoon, G. M. R. I. Godaliyadda, M. P. B. Ekanayake, H. M. V. R. Herath

IEEE Trans. Geosci. Remote. Sens., 2020

2018

Toward Finding Optimal Source Dictionaries for Single Channel Music Source Separation Using Nonnegative Matrix Factorization.

Bhathiya Rathnayake, K. M. K. Weerakoon, G. M. R. I. Godaliyadda, M. P. B. Ekanayake

Proceedings of the IEEE Symposium Series on Computational Intelligence, 2018

2017

Outdoor human navigation with GPS and sensor systems.

K. M. K. Weerakoon, K. S. Rupasinghe, T. P. Withanaarachchi, G. M. R. I. Godaliyadda, M. P. B. Ekanayake

Proceedings of the 2017 IEEE International Conference on Industrial and Information Systems, 2017