7 citations · 21 across the 21 of their papers we have counts for
4 papers · 1 filter
Embodiment-conditioned Generalist Control for Multirotor Aerial Robots
Orestis Konstantaropoulos, Welf Rehberg, Mihir Kulkarni +1
We present a generalist position control policy capable of controlling arbitrary multirotor configurations of a certain rotor count (e.g., hexarotors or quadrotors) with a single s…
The Unified Autonomy Stack: Toward a Blueprint for Generalizable Robot Autonomy
Mihir Dharmadhikari, Nikhil Khedekar, Mihir Kulkarni +7
We introduce and open-source the Unified Autonomy Stack, a system-level solution that enables resilient autonomy across diverse aerial and ground robot morphologies. The architectu…
Efficient Knowledge Transfer for Jump-Starting Control Policy Learning of Multirotors through Physics-Aware Neural Architectures
Welf Rehberg, Mihir Kulkarni, Philipp Weiss +1
Efficiently training control policies for robots is a major challenge that can greatly benefit from utilizing knowledge gained from training similar systems through cross-embodimen…
Reinforcement Learning for Active Perception in Autonomous Navigation
Grzegorz Malczyk, Mihir Kulkarni, Kostas Alexis
This paper addresses the challenge of active perception within autonomous navigation in complex, unknown environments. Revisiting the foundational principles of active perception,…