1 citations · 2 across the 6 of their papers we have counts for
7 papers
Towards Human-level Dexterity via Robot Learning
Gagan Khandate
Dexterous intelligence -- the ability to perform complex interactions with multi-fingered hands -- is a pinnacle of human physical intelligence and emergent higher-order cognitive…
Train Robots in a JIF: Joint Inverse and Forward Dynamics with Human and Robot Demonstrations
Gagan Khandate, Boxuan Wang, Sarah Park +7
Pre-training on large datasets of robot demonstrations is a powerful technique for learning diverse manipulation skills but is often limited by the high cost and complexity of coll…
RR: Rapid eXploration for Reinforcement Learning via Sampling-based Reset Distributions and Imitation Pre-training
Gagan Khandate, Tristan L. Saidi, Siqi Shang +5
We present a method for enabling Reinforcement Learning of motor control policies for complex skills such as dexterous manipulation. We posit that a key difficulty for training suc…
Dexterous In-hand Manipulation by Guiding Exploration with Simple Sub-skill Controllers
Gagan Khandate, Cameron Mehlman, Xingsheng Wei +1
Recently, reinforcement learning has led to dexterous manipulation skills of increasing complexity. Nonetheless, learning these skills in simulation still exhibits poor sample-effi…
Sampling-based Exploration for Reinforcement Learning of Dexterous Manipulation
Gagan Khandate, Siqi Shang, Eric T. Chang +5
In this paper, we present a novel method for achieving dexterous manipulation of complex objects, while simultaneously securing the object without the use of passive support surfac…
On the Feasibility of Learning Finger-gaiting In-hand Manipulation with Intrinsic Sensing
Gagan Khandate, Maxmillian Haas-Heger, Matei Ciocarlie
Finger-gaiting manipulation is an important skill to achieve large-angle in-hand re-orientation of objects. However, achieving these gaits with arbitrary orientations of the hand i…
Automatic Snake Gait Generation Using Model Predictive Control
Emily Hannigan, Bing Song, Gagan Khandate +3
In this paper, we propose a method for generating undulatory gaits for snake robots. Instead of starting from a pre-defined movement pattern such as a serpenoid curve, we use a Mod…