List of Publications

K. Weerakoon, M. Elnoor, G. Seneviratne, V. Rajagopal, S. H. Arul , J. Liang, M. Jaffar and D. Manocha, "BehAV: Behavioral Rule Guided Autonomy Using VLMs for Robot Navigation in Outdoor Scenes", accepted in ICRA 2025. [Project] [Paper][Video][Code]

K. Weerakoon, A. J. Sathyamoorthy, M. Elnoor, and D. Manocha, “VAPOR: Legged Robot Navigation in Unstructured Outdoor Environments using Offline Reinforcement Learning” in International Conference on Robotics and Automation (ICRA),  2024. [Project] [Paper][Video][Code]

A. J. Sathyamoorthy, K. Weerakoon, M. Elnoor, A. Zore, B. Ichter, F. Xia, J. Tan, and D. Manocha, "CoNVOI: Context-aware Navigation using Vision LanguageModels in Outdoor and Indoor Environments," in IEEE/RSJ Intelligent Robots and Systems conference (IROS), 2024. [Project] [Paper][Video]

M. Elnoor, K. Weerakoon, A. J. Sathyamoorthy, T. Guan, V. Rajagopal and D. Manocha, "AMCO: Adaptive Multimodal Coupling of Vision and Proprioception for Quadruped Robot Navigation in Outdoor Environments," in IEEE/RSJ Intelligent Robots and Systems conference (IROS),  2024. [Project] [Paper][Video]

A. J. Sathyamoorthy*, K. Weerakoon* , M. Elnoor,  Mason Russell, Jason Pusey, and D. Manocha, “MIM: Indoor and Outdoor Navigation in Complex Environments Using Multi-Layer Intensity Maps” in International Conference on Robotics and Automation (ICRA),  2024. [Project] [Paper][Video]

M. Elnoor, A. J. Sathyamoorthy, K. Weerakoon, and D. Manocha, "ProNav: Proprioceptive traversability estimation for legged robot navigation in outdoor environments," in IEEE Robotics and Automation Letters, 2024. [Project][Paper][Video]

K. Weerakoon, A. J. Sathyamoorthy, J. Liang, T. Guan, U. Patel, and D. Manocha, “GrASPE: Graph based Multimodal Fusion for Robot Navigation in Outdoor Environments” in IEEE Robotics and Automation Letters,  2023. [Project] [Paper][Video]

K. Weerakoon, A. J. Sathyamoorthy, M. Elnoor, D. Manocha, "AdVENTR: Autonomous Robot Navigation in Complex Outdoor Environments," in 18th International Symposium on Experimental Robotics (ISER), 2023. [Project] [Paper][Video]

 A. J. Sathyamoorthy, K. Weerakoon, T. Guan, Mason Russell, Damon Conover, Jason Pusey, and D. Manocha, “VERN: Vegetation-aware Robot Navigation in Dense Unstructured Outdoor Environments,”  in IEEE/RSJ Intelligent Robots and Systems conference (IROS),  2023. [Project][Paper] 

K. 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” in Conference on Robot Learning (CoRL),  2022. [Project] [Paper][Video]

Jing Liang, Kasun Weerakoon, Tianrui Guan, Nare Karapetyan, Dinesh Manocha, “AdaptiveON: Adaptive Outdoor Navigation Method For Stable and Reliable Actions” in IEEE Robotics and Automation Letters, vol. 8, no. 2, pp. 648-655, Feb. 2023. [Project] [Paper][Video]

 K. Weerakoon, A. J. Sathyamoorthy, U. Patel, D. Manocha, "TERP: Reliable Planning in Uneven Outdoor Environments using Deep Reinforcement Learning," 2022 International Conference on Robotics and Automation (ICRA),  2022,  pp. 9447-9453. [Project] [Paper][Video][Code]

 K. Weerakoon, A. J. Sathyamoorthy, and D. Manocha, “Sim-to-Real Strategy for Spatially Aware Robot Navigation in Uneven Outdoor Environments,” in ICRA Workshop on Releasing Robots into the Wild: Simulations, Benchmarks, and Deployment, 2022. [Paper]

A. J. Sathyamoorthy, K. Weerakoon, T. Guan, J. Liang, and D. Manocha, “TerraPN: Unstructured terrain navigation through Online Self-Supervised Learning,” in IEEE/RSJ Intelligent Robots and Systems conference (IROS),  2022. [Project]  [Paper] 

Tianrui Guan, Divya Kothandaraman, Rohan Chandra, Adarsh Jagan Sathyamoorthy, Kasun Weerakoon, Dinesh Manocha, “GANav: Efficient Terrain Segmentation for Robot Navigation in Unstructured Outdoor Environments,” in IEEE Robotics and Automation Letters, vol. 7,  no. 3, pp. 8138-8145,  July 2022.  [Project][Paper] [Video]

 K.M.K.Weerakoon, K. S. Rupasinghe, T. P. Withanaarachchi, G. M. R. I. Godaliyadda, and M. P. B. Ekanayake, "Outdoor human navigation with GPS and sensor systems,"  in Proc. 12th IEEE Int. Conf. Industrial and Information Systems(ICIIS), Peradeniya, Sri Lanka, Dec. 2017, pp. 1-6. [Paper]

B. Rathnayake, K.M.K.Weerakoon, G.M.R.I. Godaliyadda, M.P.B. Ekanayake, "Robust path following control of an underwater robotic vehicle," in Proc. 13th IEEE Int. Conf. Computer Science and Education (ICCSE), Colombo, Sri Lanka, Aug. 2018, pp. 469-473. [Paper]

B. 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," in Proc. IEEE Symposium Series on Computational Intelligence (SSCI), Bengaluru, India, Nov. 2018. [Paper]

B. Rathnayake, E. M. M. B. Ekanayake, K. Weerakoon, G. M. R. I. Godaliyadda, M. P. B. Ekanayake, and H. M. V. R. Herath, "Graph-Based Blind Hyperspectral Unmixing via Nonnegative Matrix Factorization," in IEEE Transactions on Geoscience and Remote Sensing , vol. 58, no. 9, pp. 6391-6409, Sept. 2020. [Paper]