2 citations · 2 across the 6 of their papers we have counts for
3 papers · 1 filter
OIL: An Object Interaction Layer for Humanoid Whole-Body Control
Pranay Dugar, Mohitvishnu S. Gadde, Rajesh Mangannavar +2
Recent progress in learned whole-body controllers for humanoid robots has enabled robust free-space motion by tracking kinematic targets such as joint or end-effector trajectories.…
Collision-Aware Humanoid Whole-Body Control under Imperfect Tracking Targets
Mohitvishnu S. Gadde, Ashish Malik, Pranay Dugar +3
Humanoid robots often execute motion commands through whole-body controllers (WBCs) that track targets while maintaining balance and stability. However, most WBCs are blind to scen…
Training the Orchestrator: A Supervised Approach to End-to-End PDDL Planning with LLM Agents
Rajesh Mangannavar, Zachary Coalson, Pranay Dugar +1
Translating natural-language planning intent into verified plans is a longstanding challenge: people communicate goals in language, while classical planners require formal PDDL spe…