Kasun Weerakoon

41 papers A* 6A 6Misc 1Journal 27Unranked 1
YearRankTypeTitle / Venue / Authors
2025 A* conf
Behav: Behavioral Rule Guided Autonomy Using VLMs for Robot Navigation in Outdoor Scenes.
ICRA
Kasun Weerakoon, Mohamed Elnoor, Gershom Seneviratne, Vignesh Rajagopal, Senthil Hariharan Arul, Jing Liang, Mohamed Khalid M. Jaffar, Dinesh Manocha
2025 A conf
CROSS-GAiT: Cross-Attention-Based Multimodal Representation Fusion for Parametric Gait Adaptation in Complex Terrains.
IROS
Gershom Seneviratne, Kasun Weerakoon, Mohamed Elnoor, Vignesh Rajgopal, Harshavarthan Varatharajan, Mohamed Khalid M. Jaffar, Jason L. Pusey, Dinesh Manocha
2025 A conf
Confidence-Controlled Exploration: Efficient Sparse-Reward Policy Learning for Robot Navigation.
IROS
Bhrij Patel, Kasun Weerakoon, Wesley A. Suttle, Alec Koppel, Brian M. Sadler, Tianyi Zhou, Dinesh Manocha, Amrit Singh Bedi
2025 J jnl
HALO: Human Preference Aligned Offline Reward Learning for Robot Navigation.
CoRR
Gershom Seneviratne, Jianyu An, Sahire Ellahy, Kasun Weerakoon, Mohamed Elnoor, Jonathan Deepak Kannan, Amogha Thalihalla Sunil, Dinesh Manocha
2025 J jnl
MOSU: Autonomous Long-range Robot Navigation with Multi-modal Scene Understanding.
CoRR
Jing Liang, Kasun Weerakoon, Daeun Song, Senthurbavan Kirubaharan, Xuesu Xiao, Dinesh Manocha
2025 A* conf
VLM-GroNav: Robot Navigation Using Physically Grounded Vision-Language Models in Outdoor Environments.
ICRA
Mohamed Elnoor, Kasun Weerakoon, Gershom Seneviratne, Ruiqi Xian, Tianrui Guan, Mohamed Khalid M. Jaffar, Vignesh Rajagopal, Dinesh Manocha
2025 J jnl
Vi-LAD: Vision-Language Attention Distillation for Socially-Aware Robot Navigation in Dynamic Environments.
CoRR
Mohamed Elnoor, Kasun Weerakoon, Gershom Seneviratne, Jing Liang, Vignesh Rajagopal, Dinesh Manocha
2024 A conf
AMCO: Adaptive Multimodal Coupling of Vision and Proprioception for Quadruped Robot Navigation in Outdoor Environments.
IROS
Mohamed Elnoor, Kasun Weerakoon, Adarsh Jagan Sathyamoorthy, Tianrui Guan, Vignesh Rajagopal, Dinesh Manocha
2024 J jnl
AMCO: Adaptive Multimodal Coupling of Vision and Proprioception for Quadruped Robot Navigation in Outdoor Environments.
CoRR
Mohamed Elnoor, Kasun Weerakoon, Adarsh Jagan Sathyamoorthy, Tianrui Guan, Vignesh Rajagopal, Dinesh Manocha
2024 J jnl
BehAV: Behavioral Rule Guided Autonomy Using VLMs for Robot Navigation in Outdoor Scenes.
CoRR
Kasun Weerakoon, Mohamed Elnoor, Gershom Seneviratne, Vignesh Rajagopal, Senthil Hariharan Arul, Jing Liang, Mohamed Khalid M. Jaffar, Dinesh Manocha
2024 J jnl
CROSS-GAiT: Cross-Attention-Based Multimodal Representation Fusion for Parametric Gait Adaptation in Complex Terrains.
CoRR
Gershom Seneviratne, Kasun Weerakoon, Mohamed Elnoor, Vignesh Rajagopal, Harshavarthan Varatharajan, Mohamed Khalid M. Jaffar, Jason L. Pusey, Dinesh Manocha
2024 A conf
CoNVOI: Context-aware Navigation using Vision Language Models in Outdoor and Indoor Environments.
IROS
Adarsh Jagan Sathyamoorthy, Kasun Weerakoon, Mohamed Elnoor, Anuj Zore, Brian Ichter, Fei Xia, Jie Tan, Wenhao Yu, Dinesh Manocha
2024 J jnl
CoNVOI: Context-aware Navigation using Vision Language Models in Outdoor and Indoor Environments.
CoRR
Adarsh Jagan Sathyamoorthy, Kasun Weerakoon, Mohamed Elnoor, Anuj Zore, Brian Ichter, Fei Xia, Jie Tan, Wenhao Yu, Dinesh Manocha
2024 A* conf
MIM: Indoor and Outdoor Navigation in Complex Environments Using Multi-Layer Intensity Maps.
ICRA
Adarsh Jagan Sathyamoorthy, Kasun Weerakoon, Mohamed Elnoor, Mason Russell, Jason L. Pusey, Dinesh Manocha
2024 J jnl
ProNav: Proprioceptive Traversability Estimation for Legged Robot Navigation in Outdoor Environments.
IEEE Robotics Autom. Lett.
Mohamed Elnoor, Adarsh Jagan Sathyamoorthy, Kasun Weerakoon, Dinesh Manocha
2024 J jnl
Robot Navigation Using Physically Grounded Vision-Language Models in Outdoor Environments.
CoRR
Mohamed Elnoor, Kasun Weerakoon, Gershom Seneviratne, Ruiqi Xian, Tianrui Guan, Mohamed Khalid M. Jaffar, Vignesh Rajagopal, Dinesh Manocha
2024 J jnl
TOPGN: Real-time Transparent Obstacle Detection using Lidar Point Cloud Intensity for Autonomous Robot Navigation.
CoRR
Kasun Weerakoon, Adarsh Jagan Sathyamoorthy, Mohamed Elnoor, Anuj Zore, Dinesh Manocha
2024 A* conf
VAPOR: Legged Robot Navigation in Unstructured Outdoor Environments using Offline Reinforcement Learning.
ICRA
Kasun Weerakoon, Adarsh Jagan Sathyamoorthy, Mohamed Elnoor, Dinesh Manocha
2023 — conf
AdVENTR: Autonomous Robot Navigation in Complex Outdoor Environments.
ISER
Kasun Weerakoon, Adarsh Jagan Sathyamoorthy, Mohamed Elnoor, Dinesh Manocha
2023 J jnl
AdVENTR: Autonomous Robot Navigation in Complex Outdoor Environments.
CoRR
Kasun Weerakoon, Adarsh Jagan Sathyamoorthy, Mohamed Elnoor, Dinesh Manocha
2023 J jnl
Ada-NAV: Adaptive Trajectory-Based Sample Efficient Policy Learning for Robotic Navigation.
CoRR
Bhrij Patel, Kasun Weerakoon, Wesley A. Suttle, Alec Koppel, Brian M. Sadler, Amrit Singh Bedi, Dinesh Manocha
2023 J jnl
AdaptiveON: Adaptive Outdoor Local Navigation Method for Stable and Reliable Actions.
IEEE Robotics Autom. Lett.
Jing Liang, Kasun Weerakoon, Tianrui Guan, Nare Karapetyan, Dinesh Manocha
2023 A* conf
Dealing with Sparse Rewards in Continuous Control Robotics via Heavy-Tailed Policy Optimization.
ICRA
Souradip Chakraborty, Amrit Singh Bedi, Kasun Weerakoon, Prithvi Poddar, Alec Koppel, Pratap Tokekar, Dinesh Manocha
2023 J jnl
GrASPE: Graph Based Multimodal Fusion for Robot Navigation in Outdoor Environments.
IEEE Robotics Autom. Lett.
Kasun Weerakoon, Adarsh Jagan Sathyamoorthy, Jing Liang, Tianrui Guan, Utsav Patel, Dinesh Manocha
2023 J jnl
ProNav: Proprioceptive Traversability Estimation for Legged Robot Navigation in Outdoor Environments.
CoRR
Mohamed Elnoor, Adarsh Jagan Sathyamoorthy, Kasun Weerakoon, Dinesh Manocha
2023 J jnl
RE-MOVE: An Adaptive Policy Design Approach for Dynamic Environments via Language-Based Feedback.
CoRR
Souradip Chakraborty, Kasun Weerakoon, Prithvi Poddar, Pratap Tokekar, Amrit Singh Bedi, Dinesh Manocha
2023 J jnl
Using Lidar Intensity for Robot Navigation.
CoRR
Adarsh Jagan Sathyamoorthy, Kasun Weerakoon, Mohamed Elnoor, Dinesh Manocha
2023 J jnl
VAPOR: Legged Robot Navigation in Outdoor Vegetation Using Offline Reinforcement Learning.
CoRR
Kasun Weerakoon, Adarsh Jagan Sathyamoorthy, Mohamed Elnoor, Dinesh Manocha
2023 A conf
VERN: Vegetation-Aware Robot Navigation in Dense Unstructured Outdoor Environments.
IROS
Adarsh Jagan Sathyamoorthy, Kasun Weerakoon, Tianrui Guan, Mason Russell, Damon Conover, Jason L. Pusey, Dinesh Manocha
2023 J jnl
VERN: Vegetation-aware Robot Navigation in Dense Unstructured Outdoor Environments.
CoRR
Adarsh Jagan Sathyamoorthy, Kasun Weerakoon, Tianrui Guan, Mason Russell, Damon Conover, Jason L. Pusey, Dinesh Manocha
2022 J jnl
AdaptiveON: Adaptive Outdoor Navigation Method For Stable and Reliable Actions.
CoRR
Jing Liang, Kasun Weerakoon, Tianrui Guan, Nare Karapetyan, Dinesh Manocha
2022 J jnl
GA-Nav: Efficient Terrain Segmentation for Robot Navigation in Unstructured Outdoor Environments.
IEEE Robotics Autom. Lett.
Tianrui Guan, Divya Kothandaraman, Rohan Chandra, Adarsh Jagan Sathyamoorthy, Kasun Weerakoon, Dinesh Manocha
2022 J jnl
GrASPE: Graph based Multimodal Fusion for Robot Navigation in Unstructured Outdoor Environments.
CoRR
Kasun Weerakoon, Adarsh Jagan Sathyamoorthy, Jing Liang, Tianrui Guan, Utsav Patel, Dinesh Manocha
2022 Misc conf
HTRON: Efficient Outdoor Navigation with Sparse Rewards via Heavy Tailed Adaptive Reinforce Algorithm.
CoRL
Kasun Weerakoon, Souradip Chakraborty, Nare Karapetyan, Adarsh Jagan Sathyamoorthy, Amrit S. Bedi, Dinesh Manocha
2022 J jnl
HTRON: Efficient Outdoor Navigation with Sparse Rewards via Heavy Tailed Adaptive Reinforce Algorithm.
CoRR
Kasun Weerakoon, Souradip Chakraborty, Nare Karapetyan, Adarsh Jagan Sathyamoorthy, Amrit Singh Bedi, Dinesh Manocha
2022 J jnl
Sim-to-Real Strategy for Spatially Aware Robot Navigation in Uneven Outdoor Environments.
CoRR
Kasun Weerakoon, Adarsh Jagan Sathyamoorthy, Dinesh Manocha
2022 A* conf
TERP: Reliable Planning in Uneven Outdoor Environments using Deep Reinforcement Learning.
ICRA
Kasun Weerakoon, Adarsh Jagan Sathyamoorthy, Utsav Patel, Dinesh Manocha
2022 A conf
TerraPN: Unstructured Terrain Navigation using Online Self-Supervised Learning.
IROS
Adarsh Jagan Sathyamoorthy, Kasun Weerakoon, Tianrui Guan, Jing Liang, Dinesh Manocha
2022 J jnl
TerraPN: Unstructured terrain navigation through Online Self-Supervised Learning.
CoRR
Adarsh Jagan Sathyamoorthy, Kasun Weerakoon, Tianrui Guan, Jing Liang, Dinesh Manocha
2021 J jnl
TERP: Reliable Planning in Uneven Outdoor Environments using Deep Reinforcement Learning.
CoRR
Kasun Weerakoon, Adarsh Jagan Sathyamoorthy, Utsav Patel, Dinesh Manocha
2020 J jnl
Graph-Based Blind Hyperspectral Unmixing via Nonnegative Matrix Factorization.
IEEE Trans. Geosci. Remote. Sens.
Bhathiya Rathnayake, E. M. M. B. Ekanayake, Kasun Weerakoon, G. M. R. I. Godaliyadda, M. P. B. Ekanayake, H. M. V. R. Herath