324 citations · 420 across the 56 of their papers we have counts for
9 papers · 1 filter
Discrete time model predictive control for humanoid walking with step adjustment
Vishnu Joshi, Suraj Kumar, Nithin V +1
This paper presents a Discrete-Time Model Predictive Controller (MPC) for humanoid walking with online footstep adjustment. The proposed controller utilizes a hierarchical control…
Revisit Anything: Visual Place Recognition via Image Segment Retrieval
Kartik Garg, Sai Shubodh Puligilla, Shishir Kolathaya +2
Accurately recognizing a revisited place is crucial for embodied agents to localize and navigate. This requires visual representations to be distinct, despite strong variations in…
Semi-Supervised Safe Visuomotor Policy Synthesis using Barrier Certificates
Manan Tayal, Aditya Singh, Pushpak Jagtap +1
In modern robotics, addressing the lack of accurate state space information in real-world scenarios has led to a significant focus on utilizing visuomotor observation to provide sa…
PIP-Loco: A Proprioceptive Infinite Horizon Planning Framework for Quadrupedal Robot Locomotion
Aditya Shirwatkar, Naman Saxena, Kishore Chandra +1
A core strength of Model Predictive Control (MPC) for quadrupedal locomotion has been its ability to enforce constraints and provide interpretability of the sequence of commands ov…
Real Time Safety of Fixed-wing UAVs using Collision Cone Control Barrier Functions
Aryan Agarwal, Ravi Agrawal, Manan Tayal +2
Fixed-wing UAVs have transformed the transportation system with their high flight speed and long endurance, yet their safe operation in increasingly cluttered environments depends…
BiRoDiff: Diffusion policies for bipedal robot locomotion on unseen terrains
GVS Mothish, Manan Tayal, Shishir Kolathaya
Locomotion on unknown terrains is essential for bipedal robots to handle novel real-world challenges, thus expanding their utility in disaster response and exploration. In this wor…
Barrier Functions Inspired Reward Shaping for Reinforcement Learning
Nilaksh Nilaksh, Abhishek Ranjan, Shreenabh Agrawal +3
Reinforcement Learning (RL) has progressed from simple control tasks to complex real-world challenges with large state spaces. While RL excels in these tasks, training time remains…
Learning a Formally Verified Control Barrier Function in Stochastic Environment
Manan Tayal, Hongchao Zhang, Pushpak Jagtap +2
Safety is a fundamental requirement of control systems. Control Barrier Functions (CBFs) are proposed to ensure the safety of the control system by constructing safety filters or s…
A Collision Cone Approach for Control Barrier Functions
Manan Tayal, Bhavya Giri Goswami, Karthik Rajgopal +5
This work presents a unified approach for collision avoidance using Collision-Cone Control Barrier Functions (CBFs) in both ground (UGV) and aerial (UAV) unmanned vehicles. We prop…