Author

Sakthiprasad Kuttankulangara Manoharan

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Open access Oct 2026

Diffusion-Guided Trajectory Priors for Efficient Robotic Manipulator Motion Planning in Dynamic Environments

A hierarchical conditional diffusion framework is proposed for structured joint-space trajectory generation, which is conditioned on start and goal positions, static workspace geometry, and dynamic obstacle motions, and achieves 93.5% planning success versus 82.5% for the best learning-based baseline, Hierarchical Diff...

R. Megalingam, Sakthiprasad Kuttankulangara Manoharan, Sindhu Sankar · Robotics · 0 citations

Open access Oct 2026

Soft Prompt Tuning for Multilingual Natural Language Understanding in Human–Robot Interaction with Bidirectional Cross-Attention

Natural language understanding (NLU) enables intuitive human–robot interaction (HRI). It requires joint modeling of intent classification and named entity recognition (NER). Existing approaches suffer from three key limitations. Fine-tuning large multilingual pretrained models on domain-specific HRI data incurs high co...

Sakthiprasad Kuttankulangara Manoharan, R. Megalingam, Chandini Sunil · Robotics · 0 citations