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Muhammad Fadhil Ginting

10 accepted papers

2026

World Model Failure Classification and Anomaly Detection for Autonomous Inspection

Michelle Ho, Muhammad Fadhil Ginting, Isaac Ronald Ward, Andrzej Reinke, Mykel J. Kochenderfer, Ali-akbar Agha-mohammadi +1
ICRA 2026poster

Autonomous inspection robots for monitoring industrial sites can reduce costs and risks associated with human-led inspection. However, accurate readings can be challenging due to occlusions, limited viewpoints, or unexpected environmental conditions. We propose a hybrid framework that combines super…

Cited by 0Source ↗PDF ↗code ↗Scholar ↗
2025

Enter the Mind Palace: Reasoning and Planning for Long-term Active Embodied Question Answering

Muhammad Fadhil Ginting, Dong-Ki Kim, Xiangyun Meng, Andrzej Marek Reinke, Bandi Jai Krishna, Navid Kayhani +7
CoRL 2025poster

As robots become increasingly capable of operating over extended periods—spanning days, weeks, and even months—they are expected to accumulate knowledge of their environments and leverage this experience to assist humans more effectively. This paper studies the problem of Long-term Active Embodied Q…

Cited by 0Source ↗Scholar ↗
2025

SayComply: Grounding Field Robotic Tasks in Operational Compliance Through Retrieval-Based Language Models

Muhammad Fadhil Ginting, Dong-Ki Kim, Sung-Kyun Kim, Bandi Jai Krishna, Mykel J. Kochenderfer, Shayegan Omidshafiei +1
ICRA 2025

This paper addresses the problem of task planning for robots that must comply with operational manuals in real-world settings. Task planning under these constraints is essential for enabling autonomous robot operation in domains that require adherence to domain-specific knowledge. Current methods fo

Cited by 6Source ↗code ↗Scholar ↗
2024

SEEK: Semantic Reasoning for Object Goal Navigation in Real World Inspection Tasks

Muhammad Fadhil Ginting, Sung-Kyun Kim, David Fan, Matteo Palieri, Mykel Kochenderfer, Ali-akbar Agha-mohammadi
RSS 2024poster

This paper addresses the problem of object-goal navigation in autonomous inspections in real-world environments. Object-goal navigation is crucial to enable effective inspections in various settings, often requiring the robot to identify the target object within a large search space. Current object…

Cited by 8Source ↗PDF ↗Scholar ↗
2024

Semantic Belief Behavior Graph: Enabling Autonomous Robot Inspection in Unknown Environments

Muhammad Fadhil Ginting, David D. Fan, Sung-Kyun Kim, Mykel J. Kochenderfer, Ali-Akbar Agha-Mohammadi
IROS 2024poster

This paper addresses the problem of autonomous robotic inspection in complex and unknown environments. This capability is crucial for efficient and precise inspections in various real-world scenarios, even when faced with perceptual uncertainty and lack of prior knowledge of the environment. Existin…

Cited by 5Source ↗Scholar ↗
2023

Safe and Efficient Navigation in Extreme Environments using Semantic Belief Graphs

Muhammad Fadhil Ginting, Sung-Kyun Kim, Oriana Peltzer, Joshua Ott, Sunggoo Jung, Mykel J. Kochenderfer +1
ICRA 2023poster

To achieve autonomy in unknown and unstruc-tured environments, we propose a method for semantic-based planning under perceptual uncertainty. This capability is cru-cial for safe and efficient robot navigation in environment with mobility-stressing elements that require terrain-specific locomotion po…

Cited by 8Source ↗Scholar ↗
2022

Capability-Aware Task Allocation and Team Formation Analysis for Cooperative Exploration of Complex Environments

Muhammad Fadhil Ginting, Kyohei Otsu, Mykel J. Kochenderfer, Ali-akbar Agha-mohammadi
IROS 2022poster

To achieve autonomy in complex real-world exploration missions, we consider deployment strategies for a team of robots with heterogeneous capabilities. We formulate a multi-robot exploration mission and compute an operation policy to maintain robot team productivity and maximize mission success. The…

Cited by 3Source ↗Scholar ↗
2022

LAMP 2.0: A Robust Multi-Robot SLAM System for Operation in Challenging Large-Scale Underground Environments

Yun Chang, Kamak Ebadi, Christopher E. Denniston, Muhammad Fadhil Ginting, Antoni Rosinol, Andrzej Reinke +6
RA-L 2022

Search and rescue with a team of heterogeneous mobile robots in unknown and large-scale underground environments requires high-precision localization and mapping. This crucial requirement is faced with many challenges in complex and perceptually-degraded subterranean environments, as the onboard per

Cited by 154Source ↗Scholar ↗
2021

CHORD: Distributed Data-Sharing via Hybrid ROS 1 and 2 for Multi-Robot Exploration of Large-Scale Complex Environments

Muhammad Fadhil Ginting, Kyohei Otsu, Jeffrey A. Edlund, Jay Gao, Ali-Akbar Agha-Mohammadi
RA-L 2021

A well-structured and reliable communication system is key to the successful operations of multi-robot systems. In this letter, we present our design and implementation of a multi-robot communication architecture CHORD (Collaborative High-bandwidth Operations with Radio Droppables) based on two popu

Cited by 43Source ↗Scholar ↗
2020

Autonomous Spot: Long-Range Autonomous Exploration of Extreme Environments with Legged Locomotion

Amanda Bouman, Muhammad Fadhil Ginting, Nikhilesh Alatur, Matteo Palieri, David D. Fan, Thomas Touma +5
IROS 2020poster

This paper serves as one of the first efforts to enable large-scale and long-duration autonomy using the Boston Dynamics Spot robot. Motivated by exploring extreme environments, particularly those involved in the DARPA Subterranean Challenge, this paper pushes the boundaries of the state-of-practice…

Cited by 198Source ↗Scholar ↗