4 citations · 6 across the 9 of their papers we have counts for
9 papers
HDFlow: Hierarchical Diffusion-Flow Planning for Long-horizon Tasks
Nandiraju Gireesh, Yuanliang Ju, Chaoyi Xu +3
Recent advances in generative models have shown promise in generating behavior plans for long-horizon, sparse reward tasks. While these approaches have achieved promising results,…
Adaptive Q-Chunking for Offline-to-Online Reinforcement Learning
Nandiraju Gireesh, Yuanliang Ju, He Wang
Offline-to-online reinforcement learning with action chunking eliminates multi-step off-policy bias and enables temporally coherent exploration, but all existing methods use a fixe…
MomaGraph: State-Aware Unified Scene Graphs with Vision-Language Model for Embodied Task Planning
Yuanchen Ju, Yongyuan Liang, Yen-Jen Wang +7
Mobile manipulators in households must both navigate and manipulate. This requires a compact, semantically rich scene representation that captures where objects are, how they funct…
Watch Less, Feel More: Sim-to-Real RL for Generalizable Articulated Object Manipulation via Motion Adaptation and Impedance Control
Tan-Dzung Do, Nandiraju Gireesh, Jilong Wang +1
Articulated object manipulation poses a unique challenge compared to rigid object manipulation as the object itself represents a dynamic environment. In this work, we present a nov…
GAMMA: Graspability-Aware Mobile MAnipulation Policy Learning based on Online Grasping Pose Fusion
Jiazhao Zhang, Nandiraju Gireesh, Jilong Wang +5
Mobile manipulation constitutes a fundamental task for robotic assistants and garners significant attention within the robotics community. A critical challenge inherent in mobile m…
Sequence-Agnostic Multi-Object Navigation
Nandiraju Gireesh, Ayush Agrawal, Ahana Datta +4
The Multi-Object Navigation (MultiON) task requires a robot to localize an instance (each) of multiple object classes. It is a fundamental task for an assistive robot in a home or…
Spatial Relation Graph and Graph Convolutional Network for Object Goal Navigation
D. A. Sasi Kiran, Kritika Anand, Chaitanya Kharyal +7
This paper describes a framework for the object-goal navigation task, which requires a robot to find and move to the closest instance of a target object class from a random startin…
Object Goal Navigation using Data Regularized Q-Learning
Nandiraju Gireesh, D. A. Sasi Kiran, Snehasis Banerjee +3
Object Goal Navigation requires a robot to find and navigate to an instance of a target object class in a previously unseen environment. Our framework incrementally builds a semant…
XRayGAN: Consistency-preserving Generation of X-ray Images from Radiology Reports
Xingyi Yang, Nandiraju Gireesh, Eric Xing +1
To effectively train medical students to become qualified radiologists, a large number of X-ray images collected from patients with diverse medical conditions are needed. However,…