13 papers
Belief-Overlap Partial Inversion: Object-Centric Flow Replanning for Humanoid Loco-Manipulation
Chen Yu, Sudarshan S Harithas, Juan Borbon +2
People often learn how an unfamiliar object moves through a small exploratory push, using its response to guide their next motion. Inspired by this behavior, we study humanoids pus…
BRACE: Adapting Whole-Body References for Force and Terrain Aware Humanoid Motion Tracking
Sudarshan Harithas, Chen Yu, Juan Borbon +5
Whole-body tracking has become the interface through which operators drive humanoid robots, yet the references it consumes are recorded on level ground and carrying nothing, so the…
Deliberate Practice: Learning Robot Skills under a Budget
Shivam Vats, Sudarshan Harithas, Mete Tuluhan Akbulut +2
We consider the problem of autonomously learning robot skills under a limited practice budget for sequential tasks. We propose an active skill learning algorithm, \emph{Deliberate…
VGGT-SLAM++
Avilasha Mandal, Rajesh Kumar, Sudarshan Sunil Harithas +1
We introduce VGGT-SLAM++, a complete visual SLAM system that leverages the geometry-rich outputs of the Visual Geometry Grounded Transformer (VGGT). The system comprises a visual o…
DreamControl-v2: Simpler and Scalable Autonomous Humanoid Skills via Trainable Guided Diffusion Priors
Sudarshan Harithas, Sangkyung Kwak, Pushkal Katara +6
Developing robust autonomous loco-manipulation skills for humanoids remains an open problem in robotics. While RL has been applied successfully to legged locomotion, applying it to…
DreamControl: Human-Inspired Whole-Body Humanoid Control for Scene Interaction via Guided Diffusion
Dvij Kalaria, Sudarshan S Harithas, Pushkal Katara +7
We introduce DreamControl, a novel methodology for learning autonomous whole-body humanoid skills. DreamControl leverages the strengths of diffusion models and Reinforcement Learni…
MotionGlot: A Multi-Embodied Motion Generation Model
Sudarshan Harithas, Srinath Sridhar
This paper introduces MotionGlot, a model that can generate motion across multiple embodiments with different action dimensions, such as quadruped robots and human bodies. By lever…
FinderNet: A Data Augmentation Free Canonicalization aided Loop Detection and Closure technique for Point clouds in 6-DOF separation
Sudarshan S Harithas, Gurkirat Singh, Aneesh Chavan +4
We focus on the problem of LiDAR point cloud based loop detection (or Finding) and closure (LDC) in a multi-agent setting. State-of-the-art (SOTA) techniques directly generate lear…
UrbanFly: Uncertainty-Aware Planning for Navigation Amongst High-Rises with Monocular Visual-Inertial SLAM Maps
Sudarshan S Harithas, Ayyappa Swamy Thatavarthy, Gurkirat Singh +2
We present UrbanFly: an uncertainty-aware real-time planning framework for quadrotor navigation in urban high-rise environments. A core aspect of UrbanFly is its ability to robustl…
CCO-VOXEL: Chance Constrained Optimization over Uncertain Voxel-Grid Representation for Safe Trajectory Planning
Sudarshan S Harithas, Rishabh Dev Yadav, Deepak Singh +2
We present CCO-VOXEL: the very first chance-constrained optimization (CCO) algorithm that can compute trajectory plans with probabilistic safety guarantees in real-time directly on…
ARDOP: A Versatile Humanoid Robotic Research Platform
Sudarshan S Harithas, Harish V Mekali
This paper describes the development of a humanoid robot called ARDOP. The goal of the project is to provide a modular, open-source, and inexpensive humanoid robot that would enabl…
RP-VIO: Robust Plane-based Visual-Inertial Odometry for Dynamic Environments
Karnik Ram, Chaitanya Kharyal, Sudarshan S. Harithas +1
Modern visual-inertial navigation systems (VINS) are faced with a critical challenge in real-world deployment: they need to operate reliably and robustly in highly dynamic environm…
GenNav: A Generic Indoor Navigation System for any Mobile Robot
Sudarshan S Harithas, Biswajit Pardia
The navigation system is at the heart of any mobile robot it comprises of SLAM and path planning units, which is utilized by the robot to generate a map of the environment, localiz…