Search Results - "Rai, Akshara"

FastMimic: Model-Based Motion Imitation for Agile, Diverse and Generalizable Quadrupedal Locomotion by Li, Tianyu, Won, Jungdam, Cho, Jeongwoo, Ha, Sehoon, Rai, Akshara

“…Robots operating in human environments require a diverse set of skills, including slow and fast walking, turning, side-stepping, and more. However, developing…”
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Planning in Learned Latent Action Spaces for Generalizable Legged Locomotion by Li, Tianyu, Calandra, Roberto, Pathak, Deepak, Tian, Yuandong, Meier, Franziska, Rai, Akshara

“…Hierarchical learning has been successful at learning generalizable locomotion skills on walking robots in a sample-efficient manner. However, the…”
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Using Deep Reinforcement Learning to Learn High-Level Policies on the ATRIAS Biped by Li, Tianyu, Geyer, Hartmut, Atkeson, Christopher G., Rai, Akshara

“…Learning controllers for bipedal robots is a challenging problem, often requiring expert knowledge and extensive tuning of parameters that vary in different…”
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A Framework for Online Updates to Safe Sets for Uncertain Dynamics by Shih, Jennifer C., Meier, Franziska, Rai, Akshara

“…Safety is crucial for deploying robots in the real world. One way of reasoning about safety of robots is by building safe sets through Hamilton-Jacobi (HJ)…”
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EgoTV: Egocentric Task Verification from Natural Language Task Descriptions by Hazra, Rishi, Chen, Brian, Rai, Akshara, Kamra, Nitin, Desai, Ruta

“…To enable progress towards egocentric agents capable of understanding everyday tasks specified in natural language, we propose a benchmark and a synthetic…”
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Efficient and Interpretable Robot Manipulation With Graph Neural Networks by Lin, Yixin, Wang, Austin S., Undersander, Eric, Rai, Akshara

“…Manipulation tasks, like loading a dishwasher, can be seen as a sequence of spatial constraints and relationships between different objects. We aim to discover…”
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Collaborative Navigation and Manipulation of a Cable-Towed Load by Multiple Quadrupedal Robots by Yang, Chenyu, Sue, Guo Ning, Li, Zhongyu, Yang, Lizhi, Shen, Haotian, Chi, Yufeng, Rai, Akshara, Zeng, Jun, Sreenath, Koushil

“…This letter tackles the problem of robots collaboratively towing a load with cables to a specified goal location while avoiding collisions in real time. The…”
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Learning Navigation Skills for Legged Robots with Learned Robot Embeddings by Truong, Joanne, Yarats, Denis, Li, Tianyu, Meier, Franziska, Chernova, Sonia, Batra, Dhruv, Rai, Akshara

“…Recent work has shown results on learning navigation policies for idealized cylinder agents in simulation and transferring them to real wheeled robots…”
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ASC: Adaptive Skill Coordination for Robotic Mobile Manipulation by Yokoyama, Naoki, Clegg, Alex, Truong, Joanne, Undersander, Eric, Yang, Tsung-Yen, Arnaud, Sergio, Ha, Sehoon, Batra, Dhruv, Rai, Akshara

“…We present Adaptive Skill Coordination (ASC) - an approach for accomplishing long-horizon tasks like mobile pick-and-place ( i.e. , navigating to an object,…”
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Learning State-Dependent Losses for Inverse Dynamics Learning by Morse, Kristen, Das, Neha, Lin, Yixin, Wang, Austin S., Rai, Akshara, Meier, Franziska

“…Being able to quickly adapt to changes in dynamics is paramount in model-based control for object manipulation tasks. In order to influence fast adaptation of…”
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Optimal control for geometric motion planning of a robot diver by Shu, Roberto, Siravuru, Avinash, Rai, Akshara, Dear, Tony, Sreenath, Koushil, Choset, Howie

“…Inertial reorientation of airborne articulated bodies has been an active area of research in the robotics community, as this behavior can help guide dynamic…”
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Learning Generalizable Locomotion Skills with Hierarchical Reinforcement Learning by Li, Tianyu, Lambert, Nathan, Calandra, Roberto, Meier, Franziska, Rai, Akshara

“…Learning to locomote to arbitrary goals on hardware remains a challenging problem for reinforcement learning. In this paper, we present a hierarchical…”
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Bayesian Optimization Using Domain Knowledge on the ATRIAS Biped by Rai, Akshara, Antonova, Rika, Song, Seungmoon, Martin, William, Geyer, Hartmut, Atkeson, Christopher

“…Robotics controllers often consist of expert-designed heuristics, which can be hard to tune in higher dimensions. Simulation can aid in optimizing these…”
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Vision-Aided Dynamic Quadrupedal Locomotion on Discrete Terrain Using Motion Libraries by Agrawal, Ayush, Chen, Shuxiao, Rai, Akshara, Sreenath, Koushil

“…In this paper, we present a framework rooted in control and planning that enables quadrupedal robots to traverse challenging terrains with discrete footholds…”
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Learning feedback terms for reactive planning and control by Rai, Akshara, Sutanto, Giovanni, Schaal, Stefan, Meier, Franziska

“…With the advancement of robotics, machine learning, and machine perception, increasingly more robots will enter human environments to assist with daily tasks…”
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Skill Transformer: A Monolithic Policy for Mobile Manipulation by Huang, Xiaoyu, Batra, Dhruv, Rai, Akshara, Szot, Andrew

“…We present Skill Transformer, an approach for solving long-horizon robotic tasks by combining conditional sequence modeling and skill modularity. Conditioned…”
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Sample efficient optimization for learning controllers for bipedal locomotion by Antonova, Rika, Rai, Akshara, Atkeson, Christopher G.

“…Learning policies for bipedal locomotion can be difficult, as experiments are expensive and simulation does not usually transfer well to hardware. To counter…”
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Learning Torque Control for Quadrupedal Locomotion by Chen, Shuxiao, Zhang, Bike, Mueller, Mark W., Rai, Akshara, Sreenath, Koushil

“…Reinforcement learning (RL) has become a promising approach to developing controllers for quadrupedal robots. Conventionally, an RL design for locomotion…”
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EgoTV: Egocentric Task Verification from Natural Language Task Descriptions by Hazra, Rishi, Chen, Brian, Rai, Akshara, Kamra, Nitin, Desai, Ruta

“…To enable progress towards egocentric agents capable of understanding everyday tasks specified in natural language, we propose a benchmark and a synthetic…”
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Learning Periodic Tasks from Human Demonstrations by Yang, Jingyun, Zhang, Junwu, Settle, Connor, Rai, Akshara, Antonova, Rika, Bohg, Jeannette

“…We develop a method for learning periodic tasks from visual demonstrations. The core idea is to leverage periodicity in the policy structure to model periodic…”
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