20 citations · 39 across the 15 of their papers we have counts for
7 papers · 1 filter
Modality-Autoregressive World-Action Models
Adam Hung, Bardienus P. Duisterhof, Deva Ramanan +1
World-action models (WAMs) jointly model future observations and actions, typically predicting the future as RGB images. Other visual modalities such as depth, pretrained visual fe…
Wiggle and Go! System Identification for Zero-Shot Dynamic Rope Manipulation
Arthur Jakobsson, Abhinav Mahajan, Karthik Pullalarevu +6
Many robotic tasks are unforgiving; a single mistake in a dynamic throw can lead to unacceptable delays or unrecoverable failure. We introduce Wiggle and Go!, a two-stage framework…
3PoinTr: From Human Videos to Robot Policies with 3D Point-Track Plans
Adam Hung, Bardienus Pieter Duisterhof, Jeffrey Ichnowski
Human videos could reduce the reliance on expensive robot demonstrations, but extracting task-relevant features remains challenging. We introduce 3PoinTr, a method that provides ro…
Hearing the Slide: Acoustic-Guided Constraint Learning for Fast Non-Prehensile Transport
Yuemin Mao, Bardienus P. Duisterhof, Moonyoung Lee +1
Object transport tasks are fundamental in robotic automation, emphasizing the importance of efficient and secure methods for moving objects. Non-prehensile transport can significan…
Sniffy Bug: A Fully Autonomous Swarm of Gas-Seeking Nano Quadcopters in Cluttered Environments
Bardienus P. Duisterhof, Shushuai Li, Javier Burgués +2
Nano quadcopters are ideal for gas source localization (GSL) as they are safe, agile and inexpensive. However, their extremely restricted sensors and computational resources make G…
Learning to Seek: Autonomous Source Seeking with Deep Reinforcement Learning Onboard a Nano Drone Microcontroller
Bardienus P. Duisterhof, Srivatsan Krishnan, Jonathan J. Cruz +5
We present fully autonomous source seeking onboard a highly constrained nano quadcopter, by contributing application-specific system and observation feature design to enable infere…
The Role of Compute in Autonomous Aerial Vehicles
Behzad Boroujerdian, Hasan Genc, Srivatsan Krishnan +7
Autonomous-mobile cyber-physical machines are part of our future. Specifically, unmanned-aerial-vehicles have seen a resurgence in activity with use-cases such as package delivery.…