Gokul Puthumanaillam

    @article{puthumanaillam2026muninn,
          title={Muninn: Your Trajectory Diffusion Model But Faster}, 
          author={Gokul Puthumanaillam and Hao Jiang and Ruben Hernandez and Jose Fuentes and Paulo Padrao and Leonardo Bobadilla and Melkior Ornik},
          journal={{arXiv preprint arXiv:2605.09999},
          year={2026}
    }

    @misc{puthumanaillam2026trajectorylevelredirectionattacksvisionlanguageaction,
          title={Trajectory-Level Redirection Attacks on Vision-Language-Action Models}, 
          author={Gokul Puthumanaillam and Vardhan Dongre and Pranay Thangeda and Hooshang Nayyeri and Dilek Hakkani-Tür and Melkior Ornik},
          year={2026},
          eprint={2606.12978},
          archivePrefix={arXiv},
          primaryClass={cs.RO},
          url={https://arxiv.org/abs/2606.12978},
          note={Accepted at the Conference on Robot Learning (CoRL 2026)}
    }

    @article{puthumanaillam2026amortizing,
        title={Amortizing Trajectory Diffusion with Keyed Drift Fields},
        author={Puthumanaillam, Gokul and Ornik, Melkior},
        journal={arXiv preprint arXiv:2603.14056},
        year={2026}
    }

    @misc{musavi2026robotreplanregretguidedupdate,
        title={When Should a Robot Replan? Regret-Guided Update Scheduling in Time-Varying {MDPs}},
        author={Negin Musavi and Gokul Puthumanaillam and Ruben Hernandez and William Schafer and Melkior Ornik},
        year={2026},
        eprint={2606.16972},
        archivePrefix={arXiv},
        primaryClass={cs.RO},
        url={https://arxiv.org/abs/2606.16972},
        note={Accepted at the Conference on Robot Learning (CoRL 2026)}
    }

    @misc{phoompho2026taskawareenvironmentaugmentation,
        title={Task-Aware Environment Augmentation for Reliable Navigation via Shielded Conditional Diffusion},
        author={Bharawee Phoompho and Gokul Puthumanaillam and Yan Miao and Ruben Hernandez and Tim Bretl and Sayan Mitra and Melkior Ornik},
        year={2026},
        eprint={2606.15154},
        archivePrefix={arXiv},
        primaryClass={cs.RO},
        url={https://arxiv.org/abs/2606.15154},
        note={Accepted at the Conference on Robot Learning (CoRL 2026)}
    }

    @article{vora2026scout,
        title={SCoUT: Scalable Communication via Utility-Guided Temporal Grouping 
        in Multi-Agent Reinforcement Learning},
        author={Vora, Manav and Puthumanaillam, Gokul and Tsukamoto, Hiroyasu 
        and Ornik, Melkior},
        journal={arXiv preprint arXiv:2603.04833},
        year={2026}
    }

   @article{bcod2025,
        title = {Belief-Conditioned One-Step Diffusion: Real-Time Trajectory Planning with Just-Enough Sensing},
        author = {Gokul Puthumanaillam and Aditya Penumarti and Manav Vora and Paulo Padrao and Jose Fuentes and Leonardo Bobadilla and Jane Shin and Melkior Ornik},
        year = {2025},
        eprint = {2508.12166},
        archivePrefix = {arXiv},
        primaryClass = {cs.RO},
        url = {https://arxiv.org/abs/2508.12166}
    }

    @misc{puthumanaillam2025onlinelearningdeceptivepolicies,
          title={Online Learning of Deceptive Policies under Intermittent Observation}, 
          author={Gokul Puthumanaillam and Ram Padmanabhan and Jose Fuentes and Nicole Cruz and Paulo Padrao and Ruben Hernandez and Hao Jiang and William Schafer and Leonardo Bobadilla and Melkior Ornik},
          year={2025},
          eprint={2509.14453},
          archivePrefix={arXiv},
          primaryClass={cs.RO},
          url={https://arxiv.org/abs/2509.14453}, 
    }

    @article{puthumanaillam2024enhancing,
        title={GUIDEd Agents: Enhancing Navigation Policies through Task-Specific Uncertainty 
        Abstraction in Localization-Limited Environments},
        author={Gokul Puthumanaillam and Paulo Padrao and Jose Fuentes 
        and Leonardo Bobadilla and Melkior Ornik},
        journal={IEEE Robotics and Automation Letters},
        year={to be published. for now arXiv preprint arXiv:2410.15178},
        publisher={IEEE}
      }

   @article{trace2025,
        title = {TRACE: A Self-Improving Framework for Robot Behavior Forecasting with Vision-
        Language Models},
        author = {Gokul Puthumanaillam and Paulo Padrao and 
        Jose Fuentes and Pranay Thangeda and William E. Schafer 
        and Jae Hyuk Song and Karan Jagdale and Leonardo Bobadilla 
        and Melkior Ornik},
        year = {2025},
        eprint = {2503.00761},
        archivePrefix = {arXiv},
        primaryClass = {cs.RO},
        url = {https://arxiv.org/abs/2503.00761}
    }

   @article{zhang2025motion,
     title={Motion Planning and Control with Unknown Nonlinear Dynamics through 
     Predicted Reachability},
     author={Zhang, Zhiquan and Puthumanaillam, Gokul and Vora, Manav 
     and Ornik, Melkior},
     journal={arXiv preprint arXiv:2503.03633},
     year={2025}
   }

    @article{puthumanaillam2024enhancing,
      title={Enhancing Robot Navigation Policies with Task-Specific Uncertainty Management}, 
      author={Gokul Puthumanaillam and Paulo Padrao and Jose Fuentes 
      and Leonardo Bobadilla and Melkior Ornik},
      journal={arXiv preprint arXiv:2410.15178},
      year={2024},
      note={Accepted at International Conference on Autonomous Agents and Multiagent Systems
      (AAMAS 2025)}
    }

    @article{puthumanaillam2024tabfields,
      title={TAB-Fields: A Maximum Entropy Framework for Mission-Aware Adversarial Planning},
      author={Gokul Puthumanaillam and Jae Hyuk Song and Nurzhan Yesmagambet and 
      Shinkyu Park and Melkior Ornik},
      journal={arXiv preprint arXiv:2412.02570},
      year={2024},
      note={Accepted for presentation at L4DC 2025}
    }

    @article{puthumanaillam2025lazy,
      title={The Lazy Student's Dream: ChatGPT Passing an Engineering Course on Its Own},
      author={Puthumanaillam, Gokul and Bretl, Thomas and Ornik, Melkior},
      journal={arXiv preprint arXiv:2503.05760},
      year={2025}
    }

    @article{puthumanaillam2024comtraq,
      title={ComTraQ-MPC: Meta-Trained DQN-MPC Integration for Trajectory Tracking with 
      Limited Active Localization Updates},
      author={Puthumanaillam, Gokul and Vora, Manav and Ornik, Melkior},
      journal={arXiv preprint arXiv:2403.01564},
      year={2024},
      note={Accepted at IEEE/RSJ International Conference on Intelligent Robots and Systems 
      (IROS 2024)}
    }

    @article{puthumanaillam2023weathering,
      title={Weathering ongoing uncertainty: learning and planning in a 
      time-varying partially observable environment},
      author={Puthumanaillam, Gokul and Liu, Xiangyu 
      and Mehr, Negar and Ornik, Melkior},
      journal={arXiv preprint arXiv:2312.03263},
      year={2023},
      note={accepted at IEEE International Conference on Robotics and Automation 
      (ICRA) 2024}
    }

    @article{puthumanaillam2023texture,
      title={Texture based prototypical network for few-shot semantic segmentation of
      forest cover: Generalizing for different geographical regions},
      author={Puthumanaillam, Gokul and Verma, Ujjwal},
      journal={Neurocomputing},
      volume={538},
      pages={126201},
      year={2023},
      publisher={Elsevier},
      note={Best Paper Award at IEEE GRSS}
    }