Publications

2025

1. RSS
   FM4RoboPlan
   2025

   Can Pretrained Vision-Language Embeddings Alone Guide Robot Navigation?

   Nitesh Subedi^*, Adam Haroon^*, Shreyan Ganguly, and 4 more authors

   arXiv preprint arXiv:2506.14507, 2025

   Bib

   @article{subedi2025can,
     title = {Can Pretrained Vision-Language Embeddings Alone Guide Robot Navigation?},
     author = {Subedi, Nitesh and Haroon, Adam and Ganguly, Shreyan and Tetteh, Samuel TK and Koirala, Prajwal and Fleming, Cody and Sarkar, Soumik},
     journal = {arXiv preprint arXiv:2506.14507},
     year = {2025},
   }

2. In
   Submission

   Flow-Based Single-Step Completion for Efficient and Expressive Policy Learning

   Prajwal Koirala and Cody Fleming

   arXiv preprint arXiv:2506.21427, 2025

   Bib

   @article{koirala2025flow,
     title = {Flow-Based Single-Step Completion for Efficient and Expressive Policy Learning},
     author = {Koirala, Prajwal and Fleming, Cody},
     journal = {arXiv preprint arXiv:2506.21427},
     year = {2025},
   }

2024

1. ITSC
   2024

   F1tenth Autonomous Racing With Offline Reinforcement Learning Methods

   Prajwal Koirala and Cody Fleming

   In 2024 IEEE 27th International Conference on Intelligent Transportation Systems (ITSC), 2024

   Bib

   @inproceedings{koirala2024f1tenth,
     title = {F1tenth Autonomous Racing With Offline Reinforcement Learning Methods},
     author = {Koirala, Prajwal and Fleming, Cody},
     booktitle = {2024 IEEE 27th International Conference on Intelligent Transportation Systems (ITSC)},
     pages = {3922--3929},
     year = {2024},
     organization = {IEEE},
   }

2. ICLR
   2025

   Latent Safety-Constrained Policy Approach for Safe Offline Reinforcement Learning

   Prajwal Koirala, Zhanhong Jiang, Soumik Sarkar, and 1 more author

   arXiv preprint arXiv:2412.08794, 2024

   Bib

   @article{koirala2024latent,
     title = {Latent Safety-Constrained Policy Approach for Safe Offline Reinforcement Learning},
     author = {Koirala, Prajwal and Jiang, Zhanhong and Sarkar, Soumik and Fleming, Cody},
     journal = {arXiv preprint arXiv:2412.08794},
     year = {2024},
   }

3. CDC
   2025

   FAWAC: Feasibility Informed Advantage Weighted Regression for Persistent Safety in Offline Reinforcement Learning

   Prajwal Koirala, Zhanhong Jiang, Soumik Sarkar, and 1 more author

   arXiv preprint arXiv:2412.08880, 2024

   Bib

   @article{koirala2024fawac,
     title = {FAWAC: Feasibility Informed Advantage Weighted Regression for Persistent Safety in Offline Reinforcement Learning},
     author = {Koirala, Prajwal and Jiang, Zhanhong and Sarkar, Soumik and Fleming, Cody},
     journal = {arXiv preprint arXiv:2412.08880},
     year = {2024},
   }

4. CoRL
   2024

   Solving offline reinforcement learning with decision tree regression

   Prajwal Koirala and Cody Fleming

   In 8th Conference on Robot Learning, 2024

   Bib

   @inproceedings{koirala2024solving,
     title = {Solving offline reinforcement learning with decision tree regression},
     author = {Koirala, Prajwal and Fleming, Cody},
     booktitle = {8th Conference on Robot Learning},
     year = {2024},
     organization = {PMLR},
   }