5 citations · 7 across the 10 of their papers we have counts for
10 papers
Generative Skill Chaining: Long-Horizon Skill Planning with Diffusion Models
Utkarsh A. Mishra, Shangjie Xue, Yongxin Chen +1
Long-horizon tasks, usually characterized by complex subtask dependencies, present a significant challenge in manipulation planning. Skill chaining is a practical approach to solvi…
ReorientDiff: Diffusion Model based Reorientation for Object Manipulation
Utkarsh A. Mishra, Yongxin Chen
The ability to manipulate objects in a desired configurations is a fundamental requirement for robots to complete various practical applications. While certain goals can be achieve…
Memory based neural networks for end-to-end autonomous driving
Sergio Paniego Blanco, Sakshay Mahna, Utkarsh A. Mishra +1
Recent works in end-to-end control for autonomous driving have investigated the use of vision-based exteroceptive perception. Inspired by such results, we propose a new end-to-end…
Learning Representations for Pixel-based Control: What Matters and Why?
Manan Tomar, Utkarsh A. Mishra, Amy Zhang +1
Learning representations for pixel-based control has garnered significant attention recently in reinforcement learning. A wide range of methods have been proposed to enable efficie…
Dynamic Mirror Descent based Model Predictive Control for Accelerating Robot Learning
Utkarsh A. Mishra, Soumya R. Samineni, Prakhar Goel +6
Recent works in Reinforcement Learning (RL) combine model-free (Mf)-RL algorithms with model-based (Mb)-RL approaches to get the best from both: asymptotic performance of Mf-RL and…
Linear Policies are Sufficient to Realize Robust Bipedal Walking on Challenging Terrains
Lokesh Krishna, Guillermo A. Castillo, Utkarsh A. Mishra +2
In this work, we demonstrate robust walking in the bipedal robot Digit on uneven terrains by just learning a single linear policy. In particular, we propose a new control pipeline,…
Learning Control Policies for Imitating Human Gaits
Utkarsh A. Mishra
The work presented in this report introduces a framework aimed towards learning to imitate human gaits. Humans exhibit movements like walking, running, and jumping in the most effi…
Learning Linear Policies for Robust Bipedal Locomotion on Terrains with Varying Slopes
Lokesh Krishna, Utkarsh A. Mishra, Guillermo A. Castillo +2
In this paper, with a view toward deployment of light-weight control frameworks for bipedal walking robots, we realize end-foot trajectories that are shaped by a single linear feed…
Planning Brachistochrone Hip Trajectory for a Toe-Foot Bipedal Robot going Downstairs
Gaurav Bhardwaj, Utkarsh A. Mishra, N. Sukavanam +1
A novel efficient downstairs trajectory is proposed for a 9 link biped robot model with toe-foot. Brachistochrone is the fastest descent trajectory for a particle moving only under…
Cycloidal Trajectory Realization on Staircase based on Neural Network Temporal Quantized Lagrange Dynamics (NNTQLD) with Ant Colony Optimization for a 9-Link Bipedal Robot
Gaurav Bhardwaj, Utkarsh A. Mishra, N. Sukavanam +1
In this paper, a novel optimal technique for joint angles trajectory tracking control with energy optimization for a biped robot with toe foot is proposed. For the task of climbing…