13 citations · 18 across the 5 of their papers we have counts for
5 papers
Low-latency Imaging and Inference from LoRa-enabled CubeSats
Akshay Gadre, Swarun Kumar, Zachary Manchester
Recent years have seen the rapid deployment of low-cost CubeSats in low-Earth orbit, primarily for research, education, and Earth observation. The vast majority of these CubeSats e…
Training Structured Mechanical Models by Minimizing Discrete Euler-Lagrange Residual
Kunal Menda, Jayesh K. Gupta, Zachary Manchester +1
Model-based paradigms for decision-making and control are becoming ubiquitous in robotics. They rely on the ability to efficiently learn a model of the system from data. Structured…
Scalable Identification of Partially Observed Systems with Certainty-Equivalent EM
Kunal Menda, Jean de Becdelièvre, Jayesh K. Gupta +3
System identification is a key step for model-based control, estimator design, and output prediction. This work considers the offline identification of partially observed nonlinear…
Structured Mechanical Models for Robot Learning and Control
Jayesh K. Gupta, Kunal Menda, Zachary Manchester +1
Model-based methods are the dominant paradigm for controlling robotic systems, though their efficacy depends heavily on the accuracy of the model used. Deep neural networks have be…
A General Framework for Structured Learning of Mechanical Systems
Jayesh K. Gupta, Kunal Menda, Zachary Manchester +1
Learning accurate dynamics models is necessary for optimal, compliant control of robotic systems. Current approaches to white-box modeling using analytic parameterizations, or blac…