R Sri Prakash

Hanyi Zhang, Khang Nguyen, Charith Munasinghe et al.

Robust robotic grasping remains a fundamental challenge for complex real-world applications. Recent advances in large-scale models demonstrate promising capabilities for reasoning in robotic tasks. However, existing benchmarks for grasping primarily focus on isolated, visual-based grasp pose detection, failing to capture the complexity of grasping tasks that require multi-step reasoning and semantic understanding during execution. To address this gap, we propose GCA-Bench, a benchmark featuring challenging \textit{grasping with complex action} scenarios that involve both scene-level reasoning and semantic constraints. GCA-Bench enables the evaluation of recent large foundation models under the same settings. To demonstrate the effectiveness of our new benchmark, we implement a diverse set of baselines, ranging from traditional grasp detection pipelines to end-to-end learning methods. Empirical studies achieve success rates below 70\% on complex grasping scenarios, underscoring critical limitations. In addition, we propose new evaluation metrics, analyze critical failure models, and provide insights to guide the development of more robust and generalizable grasping strategies.

R Sri Prakash, Nikhil Karamchandani, Sharayu Moharir

We consider the problem of service hosting where a service provider can dynamically rent edge resources via short term contracts to ensure better quality of service to its customers. The service can also be partially hosted at the edge, in which case, customers' requests can be partially served at the edge. The total cost incurred by the system is modeled as a combination of the rent cost, the service cost incurred due to latency in serving customers, and the fetch cost incurred as a result of the bandwidth used to fetch the code/databases of the service from the cloud servers to host the service at the edge. In this paper, we compare multiple hosting policies with regret as a metric, defined as the difference in the cost incurred by the policy and the optimal policy over some time horizon $T$. In particular we consider the Retro Renting (RR) and Follow The Perturbed Leader (FTPL) policies proposed in the literature and provide performance guarantees on the regret of these policies. We show that under i.i.d stochastic arrivals, RR policy has linear regret while FTPL policy has constant regret. Next, we propose a variant of FTPL, namely Wait then FTPL (W-FTPL), which also has constant regret while demonstrating much better dependence on the fetch cost. We also show that under adversarial arrivals, RR policy has linear regret while both FTPL and W-FTPL have regret $\mathrm{O}(\sqrt{T})$ which is order-optimal.

Siddhanth Ramesh, Ravi Prakash

Robots deployed in safety-critical environments must execute motions that are simultaneously robust to disturbances and provably safe from collisions. Dynamic Movement Primitives (DMPs) offer inherent stability, temporal flexibility, and efficient trajectory generalization from single demonstrations, but they lack formal safety certificates. Conversely, Hamilton-Jacobi (HJ) Reachability analysis provides a principled framework for computing worst-case safety margins and forward-invariant safe sets, but classical grid-based methods suffer from the curse of dimensionality and are impractical for real-time control. This paper introduces HJ-SafeDMP, a framework that integrates DMPs with learned HJ Reachability-based safety value functions to achieve provably safe, robust, and computationally efficient robot motion. We learn a Control Barrier Value Function (CBVF) from offline demonstration data using a model-free, finite-difference HJ recursion and deploy it as a real-time safety filter via a closed-form control law that modulates the DMP output. Unlike optimization-based CBF-QP approaches, our method achieves safety filtering without online quadratic program solves, preserving the computational efficiency of DMPs. We further incorporate an expectile-based offline learning objective that avoids querying out-of-distribution actions, and a conformal prediction calibration step that provides finite-sample probabilistic safety coverage. Experimental evaluation on a 7-DOF robot manipulator demonstrates that HJ-SafeDMP achieves formal safety guarantees with orders-of-magnitude faster execution than optimization-based baselines, while maintaining the robustness and adaptability of DMPs for human-robot interaction.