4 papers
Integrating Model-based Control and RL for Sim2Real Transfer of Tight Insertion Policies
Isidoros Marougkas, Dhruv Metha Ramesh, Joe H. Doerr +4
Object insertion under tight tolerances () is an important but challenging assembly task as even small errors can result in undesirable contacts. Recent effo…
PROBE: Proprioceptive Obstacle Detection and Estimation while Navigating in Clutter
Dhruv Metha Ramesh, Aravind Sivaramakrishnan, Shreesh Keskar +3
In critical applications, including search-and-rescue in degraded environments, blockages can be prevalent and prevent the effective deployment of certain sensing modalities, parti…
Roadmaps with Gaps over Controllers: Achieving Efficiency in Planning under Dynamics
Aravind Sivaramakrishnan, Sumanth Tangirala, Edgar Granados +2
This paper aims to improve the computational efficiency of motion planning for mobile robots with non-trivial dynamics through the use of learned controllers. Offline, a system-spe…
: Sampling-Based Kinodynamic Replanning and Feedback Control over Approximate, Identified Models of Vehicular Systems
Aravind Sivaramakrishnan, Sumanth Tangirala, Dhruv Metha Ramesh +2
This paper aims to increase the safety and reliability of executing trajectories planned for robots with non-trivial dynamics given a light-weight, approximate dynamics model. Scen…