Author

Pratap Tokekar

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Preprint Aug 2026

Model-Free Adaptive Parameter Tuning for Efficient Multi-Robot Warehouse Operations

This work eliminates manual parameter provisioning and enables real-time adaptation, providing a self-tuning paradigm for FC storage operations, and presents an adaptive parameter tuning framework based on Extremum Seeking Control that continuously adjusts planner parameters in response to measured throughput.

Pratap Tokekar, M. Benosman, Rahul Chandan et al. · 0 citations

Jul 2026

STeP: Signal Temporal Logic for Precise Specifications for Action Generation with Vision Language Models

A hierarchical framework that uses Signal Temporal Logic (STL) as a shared representation connecting high-level language understanding with low-level robot execution is proposed, demonstrating how formal specifications can improve the precision, reliability, and interpretability of language-conditioned robot planning.

Kasra Torshizi, Anukriti Singh, Sidharth Mathur et al. · arXiv.org · 1 citation