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ORCIDKasun Weerakoon
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- affiliation: Sri Lanka Technological Campus, Colombo, Sri Lanka
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2020 – today
- 2024
[j5]Mohamed Elnoor
, Adarsh Jagan Sathyamoorthy, Kasun Weerakoon, Dinesh Manocha:
ProNav: Proprioceptive Traversability Estimation for Legged Robot Navigation in Outdoor Environments. IEEE Robotics Autom. Lett. 9(8): 7190-7197 (2024)- [c9]Kasun Weerakoon, Adarsh Jagan Sathyamoorthy, Mohamed Elnoor, Dinesh Manocha:
VAPOR: Legged Robot Navigation in Unstructured Outdoor Environments using Offline Reinforcement Learning. ICRA 2024: 10344-10350 - [c8]Adarsh Jagan Sathyamoorthy, Kasun Weerakoon, Mohamed Elnoor, Mason Russell, Jason L. Pusey, Dinesh Manocha:
MIM: Indoor and Outdoor Navigation in Complex Environments Using Multi-Layer Intensity Maps. ICRA 2024: 10917-10924 - [i19]Mohamed Elnoor, Kasun Weerakoon, Adarsh Jagan Sathyamoorthy, Tianrui Guan, Vignesh Rajagopal, Dinesh Manocha:
AMCO: Adaptive Multimodal Coupling of Vision and Proprioception for Quadruped Robot Navigation in Outdoor Environments. CoRR abs/2403.13235 (2024) - [i18]Adarsh Jagan Sathyamoorthy, Kasun Weerakoon, Mohamed Elnoor, Anuj Zore, Brian Ichter, Fei Xia, Jie Tan, Wenhao Yu, Dinesh Manocha:
CoNVOI: Context-aware Navigation using Vision Language Models in Outdoor and Indoor Environments. CoRR abs/2403.15637 (2024) - [i17]Kasun Weerakoon, Adarsh Jagan Sathyamoorthy, Mohamed Elnoor, Anuj Zore, Dinesh Manocha:
TOPGN: Real-time Transparent Obstacle Detection using Lidar Point Cloud Intensity for Autonomous Robot Navigation. CoRR abs/2408.05608 (2024) - [i16]Kasun Weerakoon, Mohamed Elnoor, Gershom Seneviratne, Vignesh Rajagopal, Senthil Hariharan Arul, Jing Liang, Mohamed Khalid M. Jaffar, Dinesh Manocha:
BehAV: Behavioral Rule Guided Autonomy Using VLMs for Robot Navigation in Outdoor Scenes. CoRR abs/2409.16484 (2024) - [i15]Gershom Seneviratne, Kasun Weerakoon, Mohamed Elnoor, Vignesh Rajagopal, Harshavarthan Varatharajan, Mohamed Khalid M. Jaffar, Jason Pusey, Dinesh Manocha:
CROSS-GAiT: Cross-Attention-Based Multimodal Representation Fusion for Parametric Gait Adaptation in Complex Terrains. CoRR abs/2409.17262 (2024) - [i14]Mohamed Elnoor, Kasun Weerakoon, Gershom Seneviratne, Ruiqi Xian, Tianrui Guan, Mohamed Khalid M. Jaffar, Vignesh Rajagopal, Dinesh Manocha:
Robot Navigation Using Physically Grounded Vision-Language Models in Outdoor Environments. CoRR abs/2409.20445 (2024) - 2023
- [j4]Jing Liang, Kasun Weerakoon, Tianrui Guan, Nare Karapetyan, Dinesh Manocha:
AdaptiveON: Adaptive Outdoor Local Navigation Method for Stable and Reliable Actions. IEEE Robotics Autom. Lett. 8(2): 648-655 (2023) - [j3]Kasun Weerakoon, Adarsh Jagan Sathyamoorthy, Jing Liang, Tianrui Guan, Utsav Patel, Dinesh Manocha:
GrASPE: Graph Based Multimodal Fusion for Robot Navigation in Outdoor Environments. IEEE Robotics Autom. Lett. 8(12): 8090-8097 (2023) - [c7]Souradip Chakraborty, Amrit Singh Bedi, Kasun Weerakoon, Prithvi Poddar, Alec Koppel, Pratap Tokekar, Dinesh Manocha:
Dealing with Sparse Rewards in Continuous Control Robotics via Heavy-Tailed Policy Optimization. ICRA 2023: 989-995 - [c6]Adarsh Jagan Sathyamoorthy, Kasun Weerakoon, Tianrui Guan, Mason Russell, Damon Conover, Jason L. Pusey, Dinesh Manocha:
VERN: Vegetation-Aware Robot Navigation in Dense Unstructured Outdoor Environments. IROS 2023: 11233-11240 - [i13]Souradip Chakraborty, Kasun Weerakoon, Prithvi Poddar, Pratap Tokekar, Amrit Singh Bedi, Dinesh Manocha:
RE-MOVE: An Adaptive Policy Design Approach for Dynamic Environments via Language-Based Feedback. CoRR abs/2303.07622 (2023) - [i12]Adarsh Jagan Sathyamoorthy, Kasun Weerakoon, Tianrui Guan, Mason Russell, Damon Conover, Jason L. Pusey, Dinesh Manocha:
VERN: Vegetation-aware Robot Navigation in Dense Unstructured Outdoor Environments. CoRR abs/2303.14502 (2023) - [i11]Bhrij Patel, Kasun Weerakoon, Wesley A. Suttle, Alec Koppel, Brian M. Sadler, Amrit Singh Bedi, Dinesh Manocha:
Ada-NAV: Adaptive Trajectory-Based Sample Efficient Policy Learning for Robotic Navigation. CoRR abs/2306.06192 (2023) - [i10]Mohamed Elnoor, Adarsh Jagan Sathyamoorthy, Kasun Weerakoon, Dinesh Manocha:
ProNav: Proprioceptive Traversability Estimation for Legged Robot Navigation in Outdoor Environments. CoRR abs/2307.09754 (2023) - [i9]Adarsh Jagan Sathyamoorthy, Kasun Weerakoon, Mohamed Elnoor, Dinesh Manocha:
Using Lidar Intensity for Robot Navigation. CoRR abs/2309.07014 (2023) - [i8]Kasun Weerakoon, Adarsh Jagan Sathyamoorthy, Mohamed Elnoor, Dinesh Manocha:
VAPOR: Legged Robot Navigation in Outdoor Vegetation Using Offline Reinforcement Learning. CoRR abs/2309.07832 (2023) - [i7]Kasun Weerakoon, Adarsh Jagan Sathyamoorthy, Mohamed Elnoor, Dinesh Manocha:
AdVENTR: Autonomous Robot Navigation in Complex Outdoor Environments. CoRR abs/2311.08740 (2023) - 2022
- [j2]Tianrui Guan, Divya Kothandaraman, Rohan Chandra, Adarsh Jagan Sathyamoorthy, Kasun Weerakoon, Dinesh Manocha:
GA-Nav: Efficient Terrain Segmentation for Robot Navigation in Unstructured Outdoor Environments. IEEE Robotics Autom. Lett. 7(3): 8138-8145 (2022) - [c5]Kasun Weerakoon, Souradip Chakraborty, Nare Karapetyan, Adarsh Jagan Sathyamoorthy, Amrit S. Bedi, Dinesh Manocha:
HTRON: Efficient Outdoor Navigation with Sparse Rewards via Heavy Tailed Adaptive Reinforce Algorithm. CoRL 2022: 1629-1639 - [c4]Kasun Weerakoon, Adarsh Jagan Sathyamoorthy, Utsav Patel, Dinesh Manocha:
TERP: Reliable Planning in Uneven Outdoor Environments using Deep Reinforcement Learning. ICRA 2022: 9447-9453 - [c3]Adarsh Jagan Sathyamoorthy, Kasun Weerakoon, Tianrui Guan, Jing Liang, Dinesh Manocha:
TerraPN: Unstructured Terrain Navigation using Online Self-Supervised Learning. IROS 2022: 7197-7204 - [i6]Adarsh Jagan Sathyamoorthy, Kasun Weerakoon, Tianrui Guan, Jing Liang, Dinesh Manocha:
TerraPN: Unstructured terrain navigation through Online Self-Supervised Learning. CoRR abs/2202.12873 (2022) - [i5]Jing Liang, Kasun Weerakoon, Tianrui Guan, Nare Karapetyan, Dinesh Manocha:
AdaptiveON: Adaptive Outdoor Navigation Method For Stable and Reliable Actions. CoRR abs/2205.03517 (2022) - [i4]Kasun Weerakoon, Adarsh Jagan Sathyamoorthy, Dinesh Manocha:
Sim-to-Real Strategy for Spatially Aware Robot Navigation in Uneven Outdoor Environments. CoRR abs/2205.09194 (2022) - [i3]Kasun Weerakoon, Souradip Chakraborty, Nare Karapetyan, Adarsh Jagan Sathyamoorthy, Amrit Singh Bedi, Dinesh Manocha:
HTRON: Efficient Outdoor Navigation with Sparse Rewards via Heavy Tailed Adaptive Reinforce Algorithm. CoRR abs/2207.03694 (2022) - [i2]Kasun Weerakoon, Adarsh Jagan Sathyamoorthy, Jing Liang, Tianrui Guan, Utsav Patel, Dinesh Manocha:
GrASPE: Graph based Multimodal Fusion for Robot Navigation in Unstructured Outdoor Environments. CoRR abs/2209.05722 (2022) - 2021
- [i1]Kasun Weerakoon, Adarsh Jagan Sathyamoorthy, Utsav Patel, Dinesh Manocha:
TERP: Reliable Planning in Uneven Outdoor Environments using Deep Reinforcement Learning. CoRR abs/2109.05120 (2021) - 2020
- [j1]Bhathiya Rathnayake, E. M. M. B. Ekanayake, Kasun Weerakoon, G. M. R. I. Godaliyadda, M. P. B. Ekanayake, H. M. V. R. Herath:
Graph-Based Blind Hyperspectral Unmixing via Nonnegative Matrix Factorization. IEEE Trans. Geosci. Remote. Sens. 58(9): 6391-6409 (2020)
2010 – 2019
- 2018
- [c2]Bhathiya Rathnayake, K. M. K. Weerakoon, G. M. R. I. Godaliyadda, M. P. B. Ekanayake:
Toward Finding Optimal Source Dictionaries for Single Channel Music Source Separation Using Nonnegative Matrix Factorization. SSCI 2018: 1493-1500 - 2017
- [c1]K. M. K. Weerakoon, K. S. Rupasinghe, T. P. Withanaarachchi, G. M. R. I. Godaliyadda, M. P. B. Ekanayake:
Outdoor human navigation with GPS and sensor systems. ICIIS 2017: 1-6
Coauthor Index
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