5 papers
RobotDesignGPT: Automated Robot Design Synthesis using Vision Language Models
Nitish Sontakke, K. Niranjan Kumar, Sehoon Ha
Robot design is a nontrivial process that involves careful consideration of multiple criteria, including user specifications, kinematic structures, and visual appearance. Therefore…
BayRnTune: Adaptive Bayesian Domain Randomization via Strategic Fine-tuning
Tianle Huang, Nitish Sontakke, K. Niranjan Kumar +4
Domain randomization (DR), which entails training a policy with randomized dynamics, has proven to be a simple yet effective algorithm for reducing the gap between simulation and t…
Words into Action: Learning Diverse Humanoid Robot Behaviors using Language Guided Iterative Motion Refinement
K. Niranjan Kumar, Irfan Essa, Sehoon Ha
Humanoid robots are well suited for human habitats due to their morphological similarity, but developing controllers for them is a challenging task that involves multiple sub-probl…
Cascaded Compositional Residual Learning for Complex Interactive Behaviors
K. Niranjan Kumar, Irfan Essa, Sehoon Ha
Real-world autonomous missions often require rich interaction with nearby objects, such as doors or switches, along with effective navigation. However, such complex behaviors are d…
Graph-based Cluttered Scene Generation and Interactive Exploration using Deep Reinforcement Learning
K. Niranjan Kumar, Irfan Essa, Sehoon Ha
We introduce a novel method to teach a robotic agent to interactively explore cluttered yet structured scenes, such as kitchen pantries and grocery shelves, by leveraging the physi…