28 citations · 92 across the 41 of their papers we have counts for
5 papers · 1 filter
Open Human-Robot Collaboration using Decentralized Inverse Reinforcement Learning
Prasanth Sengadu Suresh, Siddarth Jain, Prashant Doshi +1
The growing interest in human-robot collaboration (HRC), where humans and robots cooperate towards shared goals, has seen significant advancements over the past decade. While previ…
RecoveryChaining: Learning Local Recovery Policies for Robust Manipulation
Shivam Vats, Devesh K. Jha, Maxim Likhachev +2
Model-based planners and controllers are commonly used to solve complex manipulation problems as they can efficiently optimize diverse objectives and generalize to long horizon tas…
Learning control of underactuated double pendulum with Model-Based Reinforcement Learning
Niccolò Turcato, Alberto Dalla Libera, Giulio Giacomuzzo +2
This report describes our proposed solution for the second AI Olympics competition held at IROS 2024. Our solution is based on a recent Model-Based Reinforcement Learning algorithm…
DECAF: a Discrete-Event based Collaborative Human-Robot Framework for Furniture Assembly
Giulio Giacomuzzo, Matteo Terreran, Siddarth Jain +1
This paper proposes a task planning framework for collaborative Human-Robot scenarios, specifically focused on assembling complex systems such as furniture. The human is characteri…
Autonomous Robotic Assembly: From Part Singulation to Precise Assembly
Kei Ota, Devesh K. Jha, Siddarth Jain +5
Imagine a robot that can assemble a functional product from the individual parts presented in any configuration to the robot. Designing such a robotic system is a complex problem w…