arXiv subjects

Gokul Prabhakaran

Publications and source records attributed to Gokul Prabhakaran.

3 recordsLinked to original sources

arXiv2026

Can Coding Agents Be General Agents?

As coding agents have seen rapid capability and adoption gains, users are applying them to general tasks beyond software engineering. In this post, we investigate whether coding agents can successfully generalize to end-to-end business process automation. We identify gaps in current evaluations, and conduct a case study to evaluate a coding agent on practical business tasks in an open-core Enterprise Resource Planning system. We find that the agent reliably completes simple tasks but exhibits characteristic failures on complex tasks, suggesting that bridging domain logic and code execution is a key bottleneck to generalizability.

cs.SE↗

arXiv2026

Standing Tall: Sim to Real Fall Classification and Lead Time Prediction for Bipedal Robots

This paper extends a previously proposed fall prediction algorithm to a real-time (online) setting, with implementations in both hardware and simulation. The system is validated on the full-sized bipedal robot Digit, where the real-time version achieves performance comparable to the offline implementation while maintaining a zero false positive rate, an average lead time (defined as the difference between the true and predicted fall time) of 1.1s (well above the required minimum of 0.2s), and a maximum lead time error of just 0.03s. It also achieves a high recovery rate of 0.97, demonstrating its effectiveness in real-world deployment. In addition to the real-time implementation, this work identifies key limitations of the original algorithm, particularly under omnidirectional faults, and introduces a fine-tuned strategy to improve robustness. The enhanced algorithm shows measurable improvements across all evaluated metrics, including a 0.05 reduction in average false positive rate and a 1.19s decrease in the maximum error of the average predicted lead time.

cs.RO↗

arXiv2025

Fall Prediction for Bipedal Robots: The Standing Phase

This paper presents a novel approach to fall prediction for bipedal robots, specifically targeting the detection of potential falls while standing caused by abrupt, incipient, and intermittent faults. Leveraging a 1D convolutional neural network (CNN), our method aims to maximize lead time for fall prediction while minimizing false positive rates. The proposed algorithm uniquely integrates the detection of various fault types and estimates the lead time for potential falls. Our contributions include the development of an algorithm capable of detecting abrupt, incipient, and intermittent faults in full-sized robots, its implementation using both simulation and hardware data for a humanoid robot, and a method for estimating lead time. Evaluation metrics, including false positive rate, lead time, and response time, demonstrate the efficacy of our approach. Particularly, our model achieves impressive lead times and response times across different fault scenarios with a false positive rate of 0. The findings of this study hold significant implications for enhancing the safety and reliability of bipedal robotic systems.

cs.RO↗