6 papers · 1 filter
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…
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…
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…
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…