18 citations · 59 across the 19 of their papers we have counts for
20 papers
Gradient-Weighted Feature Back-Projection: A Fast Alternative to Feature Distillation in 3D Gaussian Splatting
Joji Joseph, Bharadwaj Amrutur, Shalabh Bhatnagar
We introduce a training-free method for feature field rendering in Gaussian splatting. Our approach back-projects 2D features into pre-trained 3D Gaussians, using a weighted sum ba…
Gradient-Driven 3D Segmentation and Affordance Transfer in Gaussian Splatting Using 2D Masks
Joji Joseph, Bharadwaj Amrutur, Shalabh Bhatnagar
3D Gaussian Splatting has emerged as a powerful 3D scene representation technique, capturing fine details with high efficiency. In this paper, we introduce a novel voting-based met…
Event-Triggered Polynomial Control for Trajectory Tracking by Unicycle Robots
Harini V, Anusree Rajan, Bharadwaj Amrutur +1
This paper proposes an event-triggered polynomial control method for trajectory tracking by unicycle robots. In this method, each control input between two consecutive events is a…
CORNET 2.0: A Co-Simulation Middleware for Robot Networks
Srikrishna Acharya, Bharadwaj Amrutur, Mukunda Bharatheesha +1
We present a networked co-simulation framework for multi-robot systems applications. We require a simulation framework that captures both physical interactions and communications a…
Stochastic Action Prediction for Imitation Learning
Sagar Gubbi Venkatesh, Nihesh Rathod, Shishir Kolathaya +1
Imitation learning is a data-driven approach to acquiring skills that relies on expert demonstrations to learn a policy that maps observations to actions. When performing demonstra…
Scene Text Detection for Augmented Reality -- Character Bigram Approach to reduce False Positive Rate
Sagar Gubbi, Bharadwaj Amrutur
Natural scene text detection is an important aspect of scene understanding and could be a useful tool in building engaging augmented reality applications. In this work, we address…
Multi-Instance Aware Localization for End-to-End Imitation Learning
Sagar Gubbi Venkatesh, Raviteja Upadrashta, Shishir Kolathaya +1
Existing architectures for imitation learning using image-to-action policy networks perform poorly when presented with an input image containing multiple instances of the object of…
Imitation Learning for High Precision Peg-in-Hole Tasks
Sagar Gubbi, Shishir Kolathaya, Bharadwaj Amrutur
Industrial robot manipulators are not able to match the precision and speed with which humans are able to execute contact rich tasks even to this day. Therefore, as a means overcom…
One-Shot Object Localization Using Learnt Visual Cues via Siamese Networks
Sagar Gubbi Venkatesh, Bharadwaj Amrutur
A robot that can operate in novel and unstructured environments must be capable of recognizing new, previously unseen, objects. In this work, a visual cue is used to specify a nove…
Teaching Robots Novel Objects by Pointing at Them
Sagar Gubbi Venkatesh, Raviteja Upadrashta, Shishir Kolathaya +1
Robots that must operate in novel environments and collaborate with humans must be capable of acquiring new knowledge from human experts during operation. We propose teaching a rob…
Translating Natural Language Instructions to Computer Programs for Robot Manipulation
Sagar Gubbi Venkatesh, Raviteja Upadrashta, Bharadwaj Amrutur
It is highly desirable for robots that work alongside humans to be able to understand instructions in natural language. Existing language conditioned imitation learning models dire…
Spatial Reasoning from Natural Language Instructions for Robot Manipulation
Sagar Gubbi Venkatesh, Anirban Biswas, Raviteja Upadrashta +3
Robots that can manipulate objects in unstructured environments and collaborate with humans can benefit immensely by understanding natural language. We propose a pipelined architec…
Robust Quadrupedal Locomotion on Sloped Terrains: A Linear Policy Approach
Kartik Paigwar, Lokesh Krishna, Sashank Tirumala +7
In this paper, with a view toward fast deployment of locomotion gaits in low-cost hardware, we use a linear policy for realizing end-foot trajectories in the quadruped robot, Stoch…
Robust and Scalable Techniques for TWR and TDoA based localization using Ultra Wide Band Radios
Rakshit Ramesh, Aaron John-Sabu, Harshitha S +4
Current trends in autonomous vehicles and their applications indicates an increasing need in positioning at low battery and compute cost. Lidars provide accurate localization at th…
Learning Stable Manoeuvres in Quadruped Robots from Expert Demonstrations
Sashank Tirumala, Sagar Gubbi, Kartik Paigwar +6
With the research into development of quadruped robots picking up pace, learning based techniques are being explored for developing locomotion controllers for such robots. A key pr…
Vermillion: A High-Performance Scalable IoT Middleware for Smart Cities
Poorna Chandra Tejasvi, Vasanth Rajaraman, Arun Babu Puthuparambil +2
With the massive increase in the number of IoT devices being deployed in smart cities, it becomes paramount for middlewares to be able to handle very high loads and support demandi…
Gait Library Synthesis for Quadruped Robots via Augmented Random Search
Sashank Tirumala, Aditya Sagi, Kartik Paigwar +5
In this paper, with a view toward fast deployment of learned locomotion gaits in low-cost hardware, we generate a library of walking trajectories, namely, forward trot, backward tr…
Learning Active Spine Behaviors for Dynamic and Efficient Locomotion in Quadruped Robots
Shounak Bhattacharya, Abhik Singla, Abhimanyu +5
In this work, we provide a simulation framework to perform systematic studies on the effects of spinal joint compliance and actuation on bounding performance of a 16-DOF quadruped…
Design, Development and Experimental Realization of a Quadrupedal Research Platform: Stoch
Dhaivat Dholakiya, Shounak Bhattacharya, Ajay Gunalan +5
In this paper, we present a complete description of the hardware design and control architecture of our custom built quadruped robot, called the `Stoch'. Our goal is to realize a r…
Realizing Learned Quadruped Locomotion Behaviors through Kinematic Motion Primitives
Abhik Singla, Shounak Bhattacharya, Dhaivat Dholakiya +4
Humans and animals are believed to use a very minimal set of trajectories to perform a wide variety of tasks including walking. Our main objective in this paper is two fold 1) Obta…