7 citations · 19 across the 13 of their papers we have counts for
13 papers
Quantum Nonlocal Games on Graph Ensembles
Joshua Tucker, Chris Weeks, Peter Drmota +11
Quantum entanglement is one of the most striking discoveries in all of science. This effect allows, for instance, two spatially separated agents to coordinate their actions, withou…
Gait Switching and Enhanced Stabilization of Walking Robots with Deep Learning-based Reachability: A Case Study on Two-link Walker
Xingpeng Xia, Jason J. Choi, Ayush Agrawal +3
Learning-based approaches have recently shown notable success in legged locomotion. However, these approaches often lack accountability, necessitating empirical tests to determine…
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…
Towards a Mathematics Formalisation Assistant using Large Language Models
Ayush Agrawal, Siddhartha Gadgil, Navin Goyal +2
Mathematics formalisation is the task of writing mathematics (i.e., definitions, theorem statements, proofs) in natural language, as found in books and papers, into a formal langua…
Lyapunov Design for Robust and Efficient Robotic Reinforcement Learning
Tyler Westenbroek, Fernando Castaneda, Ayush Agrawal +2
Recent advances in the reinforcement learning (RL) literature have enabled roboticists to automatically train complex policies in simulated environments. However, due to the poor s…
Computation of Regions of Attraction for Hybrid Limit Cycles Using Reachability: An Application to Walking Robots
Jason J. Choi, Ayush Agrawal, Koushil Sreenath +2
Contact-rich robotic systems, such as legged robots and manipulators, are often represented as hybrid systems. However, the stability analysis and region-of-attraction computation…
Vision-aided Dynamic Quadrupedal Locomotion on Discrete Terrain using Motion Libraries
Ayush Agrawal, Shuxiao Chen, Akshara Rai +1
In this paper, we present a framework rooted in control and planning that enables quadrupedal robots to traverse challenging terrains with discrete footholds using visual feedback.…
WeightScale: Interpreting Weight Change in Neural Networks
Ayush Manish Agrawal, Atharva Tendle, Harshvardhan Sikka +1
Interpreting the learning dynamics of neural networks can provide useful insights into how networks learn and the development of better training and design approaches. We present a…
Autonomous Navigation for Quadrupedal Robots with Optimized Jumping through Constrained Obstacles
Scott Gilroy, Derek Lau, Lizhi Yang +8
Quadrupeds are strong candidates for navigating challenging environments because of their agile and dynamic designs. This paper presents a methodology that extends the range of exp…
Dynamic Legged Manipulation of a Ball Through Multi-Contact Optimization
Chenyu Yang, Bike Zhang, Jun Zeng +2
The feet of robots are typically used to design locomotion strategies, such as balancing, walking, and running. However, they also have great potential to perform manipulation task…
Improving Input-Output Linearizing Controllers for Bipedal Robots via Reinforcement Learning
Fernando Castañeda, Mathias Wulfman, Ayush Agrawal +4
The main drawbacks of input-output linearizing controllers are the need for precise dynamics models and not being able to account for input constraints. Model uncertainty is common…
Learning Min-norm Stabilizing Control Laws for Systems with Unknown Dynamics
Tyler Westenbroek, Fernando Castaneda, Ayush Agrawal +2
This paper introduces a framework for learning a minimum-norm stabilizing controller for a system with unknown dynamics using model-free policy optimization methods. The approach b…
Feedback Control of an Exoskeleton for Paraplegics: Toward Robustly Stable Hands-free Dynamic Walking
Omar Harib, Ayonga Hereid, Ayush Agrawal +9
This manuscript presents control of a high-DOF fully actuated lower-limb exoskeleton for paraplegic individuals. The key novelty is the ability for the user to walk without the use…