publications

2025

1. 

   OVITA: Open Vocabulary Interpretable Trajectory Adaptations

   Anurag Maurya , Tashmoy Ghosh , Anh Nguyen , and 1 more author

   IEEE Robotics and Automation Letters , 2025

   arXiv Bib Website

   @article{ovita-ral,
     title = {OVITA: Open Vocabulary Interpretable Trajectory Adaptations},
     author = {Maurya, Anurag and Ghosh, Tashmoy and Nguyen, Anh and Prakash, Ravi},
     year = {2025},
     journal = {IEEE Robotics and Automation Letters },
     github = {https://github.com/anurag1000101/OVITA}
   }

2. 

   Impedance Primitive-augmented Hierarchical Reinforcement Learning for Sequential Tasks

   Amin Berjaoui Tahmaz , Ravi Prakash , and Jens Kober

   IEEE International Conference on Robotics and Automation , 2025

   Bib

   @article{imphrl-icra,
     title = {Impedance Primitive-augmented Hierarchical Reinforcement Learning for Sequential Tasks},
     author = {Tahmaz, Amin Berjaoui and Prakash, Ravi and Kober, Jens},
     year = {2025},
     journal = {IEEE International Conference on Robotics and Automation },
   }

3. 

   Stability-Aware PI2 for Safe Interaction via Variable Impedance Control

   Karthik Swaminathan , and Ravi Prakash

   ICRA 2025 SRL Workshop, 2025

   Bib

   @article{vic-icra-workshop,
     title = {Stability-Aware PI2 for Safe Interaction via Variable Impedance Control},
     author = {Swaminathan, Karthik and Prakash, Ravi},
     year = {2025},
     journal = {ICRA 2025  SRL Workshop},
   }

4. 

   Adaptive Critic Optimal Control of an Uncertain Robot Manipulator With Applications

   Ravi Prakash , Laxmidhar Behera , and Sarangapani Jagannathan

   IEEE Transactions on Control Systems Technology, 2025

   Bib

   @article{ac-tcst,
     author = {Prakash, Ravi and Behera, Laxmidhar and Jagannathan, Sarangapani},
     journal = {IEEE Transactions on Control Systems Technology},
     title = {Adaptive Critic Optimal Control of an Uncertain Robot Manipulator With Applications},
     year = {2025},
     volume = {33},
     number = {1},
     pages = {316-326},
     keywords = {Robots;Optimal control;Manipulator dynamics;Cost function;Artificial neural networks;Trajectory;Mathematical models;Stability criteria;Control systems;Vectors;Neural networks (NNs);optimal control;robot control;system identification;uncertain systems},
     doi = {10.1109/TCST.2024.3470388},
   }

5. 

   Generalizable Motion Policies Through Keypoint Parameterization and Transportation Maps

   Giovanni Franzese , Ravi Prakash , Cosimo Della Santina , and 1 more author

   IEEE Transactions on Robotics, 2025

   Bib

   @article{11049008,
     author = {Franzese, Giovanni and Prakash, Ravi and Santina, Cosimo Della and Kober, Jens},
     journal = {IEEE Transactions on Robotics},
     title = {Generalizable Motion Policies Through Keypoint Parameterization and Transportation Maps},
     year = {2025},
     volume = {41},
     number = {},
     pages = {4557-4573},
     keywords = {Robots;Trajectory;Surface cleaning;Shape;Transportation;Uncertainty;Switches;Dynamical systems;Manipulator dynamics;End effectors;Imitation learning;one shot learning;robot learning;statistical learning},
     doi = {10.1109/TRO.2025.3582821},
   }

2024

1. 

   PACER: Progress-Aligned Curation for Error-Resilient Imitation Learning

   Shreyas Kumar , and Ravi Prakash

   CoRL 2025 Making Sense of Data in Robotics Workshop, 2024

   Bib

   @article{pacer-corl-workshop,
     title = {PACER: Progress-Aligned Curation for Error-Resilient Imitation Learning},
     author = {Kumar, Shreyas and Prakash, Ravi},
     year = {2024},
     journal = {CoRL 2025  Making Sense of Data in Robotics Workshop},
   }

2. 

   Trajectory Adaptation using Large Language Models

   Anurag Maurya , Tashmoy Ghosh , and Ravi Prakash

   CoRL 2024 LangRob Workshop, 2024

   Bib

   @article{ovita-corl-workshop,
     title = {Trajectory Adaptation using Large Language Models},
     author = {Maurya, Anurag and Ghosh, Tashmoy and Prakash, Ravi},
     year = {2024},
     journal = {CoRL 2024 LangRob Workshop},
   }