Publications

2025

1. CoRL (Under-Review)

   HALO: Human Preference Aligned Offline Reward Learning for Robot Navigation

   Gershom Seneviratne, Jianyu An, Sahire Ellahy, and 5 more authors

   2025

   Bib HTML PDF

   @article{seneviratne2024cross,
     publisher = {CoRL},
     title = {HALO: Human Preference Aligned Offline Reward Learning for Robot Navigation},
     author = {Seneviratne, Gershom and An, Jianyu and Ellahy, Sahire and Weerakoon, Kasun and Elnoor, Mohamed and Kannan, Jonathan and Sunil, Amogha and and Manocha, Dinesh},
     journal = {},
     year = {2025},
   }

2024

1. IROS

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

   Gershom Seneviratne, Kasun Weerakoon, Mohamed Elnoor, and 5 more authors

   arXiv preprint arXiv:2409.17262, 2024

   Bib HTML PDF

   @article{seneviratne2024crost,
     publisher = {IROS},
     title = {CROSS-GAiT: Cross-Attention-Based Multimodal Representation Fusion for Parametric Gait Adaptation in Complex Terrains},
     author = {Seneviratne, Gershom and Weerakoon, Kasun and Elnoor, Mohamed and Rajgopal, Vignesh and Varatharajan, Harshavarthan and Jaffar, Mohamed Khalid M and Pusey, Jason and Manocha, Dinesh},
     journal = {arXiv preprint arXiv:2409.17262},
     year = {2024},
   }

2. ICRA

   BehAV: Behavioral Rule Guided Autonomy Using VLMs for Robot Navigation in Outdoor Scenes

   Kasun Weerakoon, Mohamed Elnoor, Gershom Seneviratne, and 5 more authors

   arXiv preprint arXiv:2409.16484, 2024

   Bib

   @article{weerakoon2024behav,
     title = {BehAV: Behavioral Rule Guided Autonomy Using VLMs for Robot Navigation in Outdoor Scenes},
     author = {Weerakoon, Kasun and Elnoor, Mohamed and Seneviratne, Gershom and Rajagopal, Vignesh and Arul, Senthil Hariharan and Liang, Jing and Jaffar, Mohamed Khalid M and Manocha, Dinesh},
     journal = {arXiv preprint arXiv:2409.16484},
     year = {2024},
   }

3. ICRA

   Robot Navigation Using Physically Grounded Vision-Language Models in Outdoor Environments

   Mohamed Elnoor, Kasun Weerakoon, Gershom Seneviratne, and 5 more authors

   arXiv preprint arXiv:2409.20445, 2024

   Bib

   @article{elnoor2024robot,
     title = {Robot Navigation Using Physically Grounded Vision-Language Models in Outdoor Environments},
     author = {Elnoor, Mohamed and Weerakoon, Kasun and Seneviratne, Gershom and Xian, Ruiqi and Guan, Tianrui and Jaffar, Mohamed Khalid M and Rajagopal, Vignesh and Manocha, Dinesh},
     journal = {arXiv preprint arXiv:2409.20445},
     year = {2024}
   }

2020

1. SP-Cup-2019

   Anomaly detection using deep reconstruction and forecasting for autonomous systems

   Nadarasar Bahavan, Navaratnarajah Suman, Sulhi Cader, and 8 more authors

   arXiv preprint arXiv:2006.14556, 2020

   Bib

   @article{bahavan2020anomaly,
     title = {Anomaly detection using deep reconstruction and forecasting for autonomous systems},
     author = {Bahavan, Nadarasar and Suman, Navaratnarajah and Cader, Sulhi and Ranganayake, Ruwinda and Seneviratne, Damitha and Maddumage, Vinu and Seneviratne, Gershom and Supun, Yasinha and Wijesiri, Isuru and Dehigaspitiya, Suchitha and others},
     journal = {arXiv preprint arXiv:2006.14556},
     year = {2020}
   }