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cs.RO2025
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…
cs.RO2025
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…
cs.RO2019
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…