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Mohamed Khalid M Jaffar

5 accepted papers

2025

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 +2
ICRA 2025

We present BehAV, a novel approach for autonomous robot navigation in outdoor scenes guided by human instructions and leveraging Vision Language Models (VLMs). Our method interprets human commands using a Large Language Model (LLM), and categorizes the instructions into navigation and behavioral gui

Cited by 22Source ↗Scholar ↗
2025

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

Gershom Seneviratne, Kasun Weerakoon, Mohamed Elnoor, Vignesh Rajgopal, Harshavarthan Varatharajan, Mohamed Khalid M. Jaffar +2
IROS 2025

We present CROSS-GAiT, a novel algorithm for quadruped robots that uses Cross Attention to fuse terrain representations derived from visual and time-series inputs; including linear accelerations, angular velocities, and joint efforts. These fused representations are used to continuously adjust two c

Cited by 8Source ↗Scholar ↗
2025

VLM-GroNav: 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 +2
ICRA 2025

We present a novel autonomous robot navigation algorithm for outdoor environments that is capable of handling diverse terrain traversability conditions. Our approach, VLM-GroNav, uses vision-language models (VLMs) and integrates them with physical grounding that is used to assess intrinsic terrain p

Cited by 7Source ↗Scholar ↗
2023

Low-level controller in response to changes in quadrotor dynamics

Jae-Kyung Cho, Chan Kim, Mohamed Khalid M Jaffar, Michael W. Otte, Seong-Woo Kim
ICRA 2023poster

The dynamics of all real quadrotors inevitably differ even if they are the same product. In particular, the dynamics can change significantly during the flight due to additional device attachments or overheating motors. In this study, we focus on training a low-level controller, which operates in re…

Cited by 0Source ↗code ↗Scholar ↗
2020

Experimental Comparison of Decentralized Task Allocation Algorithms Under Imperfect Communication

Sharan Nayak, Michael W. Otte, Suyash Yeotikar, Estefany Carrillo, Eliot Rudnick-Cohen, Mohamed Khalid M. Jaffar +4
RA-L 2020

We compare the performance of five state of the art decentralized task allocation algorithms under imperfect communication conditions. The decentralized algorithms we consider are CBAA, ACBBA, DHBA, HIPC and PI. All algorithms are evaluated using three different models of communication, including th

Cited by 47Source ↗Scholar ↗