Sthithpragya Gupta — accepted AI-conference papers

2026

Cuspidal Redundant Robots: Classification of Infinitely Many IKS of Special Classes of 7R Robots

Durgesh Haribhau Salunkhe, Sthithpragya Gupta, Aude Billard

ICRA 2026poster

Redundant robots, with more degrees of freedom than required for a given task, offer enhanced dexterity but can exhibit complex kinematic behaviour in motion planning. Cuspidal robots, which can change inverse kinematic solutions without crossing singularities, have been reported to pose unique chal…

Cited by 0 Source ↗Scholar ↗

2024

Action Contextualization: Adaptive Task Planning and Action Tuning Using Large Language Models

Sthithpragya Gupta, Kunpeng Yao, Loïc Niederhauser, Aude Billard

RA-L 2024

Large Language Models (LLMs) present a promising frontier in robotic task planning by leveraging extensive human knowledge. Nevertheless, the current literature often overlooks the critical aspects of robots' adaptability and error correction. This work aims to overcome this limitation by enabling r

Cited by 8 Source ↗Scholar ↗