AIConfPaper
← Search

Anthony Tzes

18 accepted papers

2026

A Differentiable Distance Metric for Robotics Through Generalized Alternating Projection

Vinicius Mariano Gonçalves, Shiqing Wei, Eduardo Malacarne S. de Souza, Prashanth Krishnamurthy, Anthony Tzes, Farshad Khorrami
RA-L 2026

In many robotics applications, it is necessary to compute not only the distance between the robot and the environment, but also its derivative - for example, when using control barrier functions. However, since the traditional Euclidean distance is not differentiable, meaning it is not guaranteed to

Cited by 0Source ↗Scholar ↗
2026

A Differentiable Distance Metric for Robotics through Generalized Alternating Projection

Vinicius Mariano Gonçalves, Shiqing Wei, Eduardo Malacarne Soeiro de Souza, Prashanth Krishnamurthy, Anthony Tzes, Farshad Khorrami
ICRA 2026poster

In many robotics applications, it is necessary to compute not only the distance between the robot and the environment, but also its derivative - for example, when using control barrier functions. However, since the traditional Euclidean distance is not differentiable, meaning it is not guaranteed to…

Cited by 0Source ↗PDF ↗Scholar ↗
2026

A Framework for Soft Robot Control: Integrating Physics-Based Modeling with Exploration Based Learning

Costanza Armanini, Anthony Tzes, Andrea Del Prete, Fares Abu-Dakka
ICRA 2026poster

Soft robots present unique challenges for accurate modeling and control due to their virtually infinite degrees of freedom and highly nonlinear deformations. High-fidelity continuum models offer accuracy but are often computationally prohibitive for real-time control, while purely learning-based pol…

Cited by 0Scholar ↗
2026

Integrating Advantage Actor-Critic in Multi-Robot Collaboration

Jiazhao Liang, Hao Huang, Yu Hao, Geeta Chandra Raju Bethala, Congcong Wen, Shuaihang Yuan +2
RA-L 2026

Recent advances in large language models (LLMs) have spurred interest in using these models to coordinate multi-agent robot systems. However, existing approaches often fail to handle dynamic and complex environments effectively. We present A2C-Collab, an <underline xmlns:mml="http://www.w3.org/1998/

Cited by 0Source ↗Scholar ↗
2025

An Omnidirectional Non-Tethered Aerial Prototype with Fixed Uni-Directional Thrusters

Mahmoud Hamandi, Abdullah Mohamed Ali, Konstantinos Kyriakopoulos, Anthony Tzes, Farshad Khorrami
ICRA 2025

This paper presents the first worldwide functional prototype omnidirectional multi-rotor aerial vehicle with fixed uni-directional thrusters, with an on-board power source. An optimization algorithm computes the positions and orientations of the propellers in the body frame of the prototype to achie

Cited by 10Source ↗Scholar ↗
2025

Experimental Evaluation of Safe Trajectory Planning for an Omnidirectional UAV

Mahmoud Hamandi, Abdullah Mohamed Ali, Anthony Tzes, Farshad Khorrami
IROS 2025

Autonomous aerial vehicles play a critical role in search and rescue operations, where navigation through cluttered and confined environments is essential. To this end, this paper presents a novel trajectory planning framework for omnidirectional drones that dynamically adjusts tracking velocity bas

Cited by 2Source ↗Scholar ↗
2025

MP-Nav: Enhancing Data Poisoning Attacks against Multimodal Learning

Jingfeng Zhang, Prashanth Krishnamurthy, Naman Patel, Anthony Tzes, Farshad Khorrami
ICML 2025poster

Despite the success of current multimodal learning at scale, its susceptibility to data poisoning attacks poses security concerns in critical applications. Attacker can manipulate model behavior by injecting maliciously crafted yet minute instances into the training set, stealthily mismatching disti…

Cited by 0Source ↗PDF ↗Scholar ↗
2025

Socially-Aware Robot Navigation Enhanced by Bidirectional Natural Language Conversations Using Large Language Models

Congcong Wen, Yifan Liu, Geeta Chandra Raju Bethala, Shuaihang Yuan, Hao Huang, Yu Hao +4
IROS 2025

Robotic navigation plays a pivotal role in a wide range of real-world applications. While traditional navigation systems focus on efficiency and obstacle avoidance, their inability to model complex human behaviors in shared spaces has underscored the growing need for socially aware navigation. In th

Cited by 6Source ↗code ↗Scholar ↗
2025

Wavelet Policy: Lifting Scheme for Policy Learning in Long-Horizon Tasks

Hao Huang, Shuaihang Yuan, Geeta Chandra Raju Bethala, Congcong Wen, Anthony Tzes, Yi Fang
ICCV 2025poster

Policy learning focuses on devising strategies for agents in embodied artificial intelligence systems to perform optimal actions based on their perceived states. One of the key challenges in policy learning involves handling complex, long-horizon tasks that require managing extensive sequences of ac…

Cited by 0Source ↗PDF ↗Scholar ↗
2024

A Control Barrier Function-based Motion Planning Scheme for a Quadruped Robot

Halil Utku Unlu, Vinicius Mariano Gonçalves, Dimitris Chaikalis, Anthony Tzes, Farshad Khorrami
ICRA 2024poster

A Control Barrier Function (CBF)-based motion planning algorithm is proposed. The algorithm explores an unknown environment to reach a target point, providing velocity commands to the robot controller module. CBFs, along with a circulation inequality are used to generate safe paths toward the goal w…

Cited by 6Source ↗Scholar ↗
2024

BSSM: GPU-Accelerated Point-Cloud Distance Metric for Motion Planning

Vinicius Mariano Gonçalves, Prashanth Krishnamurthy, Anthony Tzes, Farshad Khorrami
RA-L 2024

We propose the BSSM: Point-Cloud based (B)iased (S)igned (S)mooth (M)etric, which is used to compute a distance metric between a manipulator and its environment. Unlike many methods that requires that the environment is modeled using simple geometric primitives such as spheres, boxes, and cylinders,

Cited by 2Source ↗Scholar ↗
2024

GAMap: Zero-Shot Object Goal Navigation with Multi-Scale Geometric-Affordance Guidance

Shuaihang Yuan, Hao Huang, Yu Hao, Congcong Wen, Anthony Tzes, Yi Fang
NeurIPS 2024poster

Zero-Shot Object Goal Navigation (ZS-OGN) enables robots to navigate toward objects of unseen categories without prior training. Traditional approaches often leverage categorical semantic information for navigation guidance, which struggles when only partial objects are observed or detailed and func…

Cited by 4Source ↗PDF ↗Scholar ↗
2023

ROIFormer: Semantic-Aware Region of Interest Transformer for Efficient Self-Supervised Monocular Depth Estimation

Daitao Xing, Jinglin Shen, Chiuman Ho, Anthony Tzes
AAAI 2023technical

The exploration of mutual-benefit cross-domains has shown great potential toward accurate self-supervised depth estimation. In this work, we revisit feature fusion between depth and semantic information and propose an efficient local adaptive attention method for geometric aware representation enhan…

Cited by 7Source ↗PDF ↗Scholar ↗
2023

Safe Navigation and Obstacle Avoidance Using Differentiable Optimization Based Control Barrier Functions

Bolun Dai, Rooholla Khorrambakht, Prashanth Krishnamurthy, Vinicius Mariano Gonçalves, Anthony Tzes, Farshad Khorrami
RA-L 2023

Control barrier functions (CBFs) have been widely applied to safety-critical robotic applications. However, the construction of control barrier functions for robotic systems remains a challenging task. Recently, collision detection using differentiable optimization has provided a way to compute the

Cited by 52Source ↗Scholar ↗
2020

3DMotion-Net: Learning Continuous Flow Function for 3D Motion Prediction

Shuaihang Yuan, Xiang Li, Anthony Tzes, Yi Fang
IROS 2020poster

This paper deals with predicting future 3D motions of 3D object scans from the previous two consecutive frames. Previous methods mostly focus on sparse motion prediction in the form of skeletons. While in this paper, we focus on predicting dense 3D motions in the form of 3D point clouds. To approach…

Cited by 5Source ↗Scholar ↗
2019

An assistive low-vision platform that augments spatial cognition through proprioceptive guidance: Point-to-Tell-and-Touch

Wenjun Gui, Bingyu Li, Shuaihang Yuan, John-Ross Rizzo, Lakshay Sharma, Chen Feng +2
IROS 2019poster

Spatial cognition, as gained through the sense of vision, is one of the most important capabilities of human beings. However, for the visually impaired (VI), lack of this perceptual capability poses great challenges in their life. Therefore, we have designed Point-to-Tell-and-Touch, a wearable syste…

Cited by 8Source ↗Scholar ↗
2015

Aerial robotic tracking of a generalized mobile target employing visual and spatio-temporal dynamic subject perception

Christos Papachristos, Dimos Tzoumanikas, Anthony Tzes
IROS 2015poster

This paper proposes a methodology for visual tracking of a dynamic generalized subject within an unknown map, by relying on its perception as a separate entity which can be distinguished spatially and visually from its environment. To this purpose, a 3D-representation of the visible scenery is exami…

Cited by 17Source ↗Scholar ↗