324 citations · 420 across the 56 of their papers we have counts for
8 papers · 1 filter
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…
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…
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…
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…
Safety-Critical Kinematic Control of Robotic Systems
Andrew Singletary, Shishir Kolathaya, Aaron D. Ames
Over the decades, kinematic controllers have proven to be practically useful for applications like set-point and trajectory tracking in robotic systems. To this end, we formulate a…
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…
Local Stability of PD Controlled Bipedal Walking Robots
Shishir Kolathaya
We establish stability results for PD tracking control laws in bipedal walking robots. Stability of PD control laws for continuous robotic systems is an established result, and we…