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Manav Vora

4 accepted papers

2025

Belief-Conditioned One-Step Diffusion: Real-Time Trajectory Planning with Just-Enough Sensing

Gokul Puthumanaillam, Aditya Penumarti, Manav Vora, Paulo Padrao, Jose Fuentes, Leonardo Bobadilla +2
CoRL 2025oral

Robots equipped with rich sensor suites can localize reliably in partially-observable environments---but powering every sensor continuously is wasteful and often infeasible. Belief-space planners address this by propagating pose-belief covariance through analytic models and switching sensors heurist…

Cited by 1Source ↗Scholar ↗
2025

Capacity-Aware Planning and Scheduling in Budget-Constrained Multi-Agent MDPs: A Meta-RL Approach

Manav Vora, Ilan Shomorony, Melkior Ornik
RA-L 2025

We study <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">capacity- and budget-constrained multi-agent MDPs</i> (CB-MA-MDPs), a class that captures many maintenance and scheduling tasks in which each agent can irreversibly fail and a planner must deci

Cited by 0Source ↗Scholar ↗
2025

Motion Planning and Control with Unknown Nonlinear Dynamics through Predicted Reachability

Zhiquan Zhang, Gokul Puthumanaillam, Manav Vora, Melkior Ornik
IROS 2025

Autonomous motion planning under unknown nonlinear dynamics presents significant challenges. An agent needs to continuously explore the system dynamics to acquire its properties, such as reachability, in order to guide system navigation adaptively. In this paper, we propose a hybrid planning-control

Cited by 2Source ↗Scholar ↗
2024

ComTraQ-MPC: Meta-Trained DQN-MPC Integration for Trajectory Tracking with Limited Active Localization Updates

Gokul Puthumanaillam, Manav Vora, Melkior Ornik
IROS 2024

Optimal decision-making for trajectory tracking in partially observable, stochastic environments where the number of active localization updates—the process by which the agent obtains its true state information from the sensors—are limited, presents a significant challenge. Traditional methods often

Cited by 4Source ↗code ↗Scholar ↗