13 citations · 46 across the 46 of their papers we have counts for
25 papers · 1 filter
Towards Unified Benchmark and Models for Multi-Modal Perceptual Metrics
Sara Ghazanfari, Siddharth Garg, Nicolas Flammarion +3
Human perception of similarity across uni- and multimodal inputs is highly complex, making it challenging to develop automated metrics that accurately mimic it. General purpose vis…
Distributed Inverse Dynamics Control for Quadruped Robots using Geometric Optimization
Nimesh Khandelwal, Amritanshu Manu, Shakti S. Gupta +3
This paper presents a distributed inverse dynamics controller (DIDC) for quadruped robots that addresses the limitations of existing reactive controllers: simplified dynamical mode…
Out-of-Distribution Detection with Overlap Index
Hao Fu, Prashanth Krishnamurthy, Siddharth Garg +1
Out-of-distribution (OOD) detection is crucial for the deployment of machine learning models in the open world. While existing OOD detectors are effective in identifying OOD sample…
RoboPEPP: Vision-Based Robot Pose and Joint Angle Estimation through Embedding Predictive Pre-Training
Raktim Gautam Goswami, Prashanth Krishnamurthy, Yann LeCun +1
Vision-based pose estimation of articulated robots with unknown joint angles has applications in collaborative robotics and human-robot interaction tasks. Current frameworks use ne…
Data-Efficient System Identification via Lipschitz Neural Networks
Shiqing Wei, Prashanth Krishnamurthy, Farshad Khorrami
Extracting dynamic models from data is of enormous importance in understanding the properties of unknown systems. In this work, we employ Lipschitz neural networks, a class of neur…
Collision Avoidance for Convex Primitives via Differentiable Optimization Based High-Order Control Barrier Functions
Shiqing Wei, Rooholla Khorrambakht, Prashanth Krishnamurthy +2
Ensuring the safety of dynamical systems is crucial, where collision avoidance is a primary concern. Recently, control barrier functions (CBFs) have emerged as an effective method…