Hardik Parwana — accepted AI-conference papers

2025

Neural Configuration Distance Function for Continuum Robot Control

Kehan Long, Hardik Parwana, Georgios Fainekos, Bardh Hoxha, Hideki Okamoto, Nikolay Atanasov

IROS 2025

This paper presents a novel method for modeling the shape of a continuum robot as a Neural Configuration Signed Distance Function (N-CSDF). By learning separate distance fields for each link and combining them through the kinematics chain, the learned N-CSDF provides an accurate and computationally

Cited by 6 Source ↗code ↗Scholar ↗

2022

Recursive Feasibility Guided Optimal Parameter Adaptation of Differential Convex Optimization Policies for Safety-Critical Systems

Hardik Parwana, Dimitra Panagou

ICRA 2022poster

Quadratic Program(QP) based state-feedback controllers, whose inequality constraints bound the rate of change of control barrier (CBFs) and lyapunov function with a class-\mathcal{K}\mathcal{K} function of their values, are sensitive to the parameters of these class-\mathcal{K}\mathcal{K} functions.…

Cited by 19 Source ↗code ↗Scholar ↗