arXiv subjects

Dharmendra Sharma

Publications and source records attributed to Dharmendra Sharma.

4 recordsLinked to original sources

arXiv2026

Instruct2Act: From Human Instruction to Actions Sequencing and Execution via Robot Action Network for Robotic Manipulation

Robots often struggle to follow free-form human instructions in real-world settings due to computational and sensing limitations. We address this gap with a lightweight, fully on-device pipeline that converts natural-language commands into reliable manipulation. Our approach has two stages: (i) the instruction to actions module (Instruct2Act), a compact BiLSTM with a multi-head-attention autoencoder that parses an instruction into an ordered sequence of atomic actions (e.g., reach, grasp, move, place); and (ii) the robot action network (RAN), which uses the dynamic adaptive trajectory radial network (DATRN) together with a vision-based environment analyzer (YOLOv8) to generate precise control trajectories for each sub-action. The entire system runs on a modest system with no cloud services. On our custom proprietary dataset, Instruct2Act attains 91.5% sub-actions prediction accuracy while retaining a small footprint. Real-robot evaluations across four tasks (pick-place, pick-pour, wipe, and pick-give) yield an overall 90% success; sub-action inference completes in < 3.8s, with end-to-end executions in 30-60s depending on task complexity. These results demonstrate that fine-grained instruction-to-action parsing, coupled with DATRN-based trajectory generation and vision-guided grounding, provides a practical path to deterministic, real-time manipulation in resource-constrained, single-camera settings.

cs.RO↗

arXiv2026

RoboSubtaskNet: Temporal Sub-task Segmentation for Human-to-Robot Skill Transfer in Real-World Environments

Temporally locating and classifying fine-grained sub-task segments in long, untrimmed videos is crucial to safe human-robot collaboration. Unlike generic activity recognition, collaborative manipulation requires sub-task labels that are directly robot-executable. We present RoboSubtaskNet, a multi-stage human-to-robot sub-task segmentation framework that couples attention-enhanced I3D features (RGB plus optical flow) with a modified MS-TCN employing a Fibonacci dilation schedule to capture better short-horizon transitions such as reach-pick-place. The network is trained with a composite objective comprising cross-entropy and temporal regularizers (truncated MSE and a transition-aware term) to reduce over-segmentation and to encourage valid sub-task progressions. To close the gap between vision benchmarks and control, we introduce RoboSubtask, a dataset of healthcare and industrial demonstrations annotated at the sub-task level and designed for deterministic mapping to manipulator primitives. Empirically, RoboSubtaskNet outperforms MS-TCN and MS-TCN++ on GTEA and our RoboSubtask benchmark (boundary-sensitive and sequence metrics), while remaining competitive on the long-horizon Breakfast benchmark. Specifically, RoboSubtaskNet attains F1 @ 50 = 79.5%, Edit = 88.6%, Acc = 78.9% on GTEA; F1 @ 50 = 30.4%, Edit = 52.0%, Acc = 53.5% on Breakfast; and F1 @ 50 = 94.2%, Edit = 95.6%, Acc = 92.2% on RoboSubtask. We further validate the full perception-to-execution pipeline on a 7-DoF Kinova Gen3 manipulator, achieving reliable end-to-end behavior in physical trials (overall task success approx 91.25%). These results demonstrate a practical path from sub-task level video understanding to deployed robotic manipulation in real-world settings.

cs.RO↗

arXiv2026

Dynamic Hand Gesture Recognition for Robot Manipulator Tasks

This paper proposes a novel approach to recognizing dynamic hand gestures facilitating seamless interaction between humans and robots. Here, each robot manipulator task is assigned a specific gesture. There may be several such tasks, hence, several gestures. These gestures may be prone to several dynamic variations. All such variations for different gestures shown to the robot are accurately recognized in real-time using the proposed unsupervised model based on the Gaussian Mixture model. The accuracy during training and real-time testing prove the efficacy of this methodology.

cs.RO↗

arXiv2024

PLLM-CS: Pre-trained Large Language Model (LLM) for Cyber Threat Detection in Satellite Networks

Satellite networks are vital in facilitating communication services for various critical infrastructures. These networks can seamlessly integrate with a diverse array of systems. However, some of these systems are vulnerable due to the absence of effective intrusion detection systems, which can be attributed to limited research and the high costs associated with deploying, fine-tuning, monitoring, and responding to security breaches. To address these challenges, we propose a pretrained Large Language Model for Cyber Security , for short PLLM-CS, which is a variant of pre-trained Transformers [1], which includes a specialized module for transforming network data into contextually suitable inputs. This transformation enables the proposed LLM to encode contextual information within the cyber data. To validate the efficacy of the proposed method, we conducted empirical experiments using two publicly available network datasets, UNSW_NB 15 and TON_IoT, both providing Internet of Things (IoT)-based traffic data. Our experiments demonstrate that proposed LLM method outperforms state-of-the-art techniques such as BiLSTM, GRU, and CNN. Notably, the PLLM-CS method achieves an outstanding accuracy level of 100% on the UNSW_NB 15 dataset, setting a new standard for benchmark performance in this domain.

cs.CR↗