31 citations · 40 across the 9 of their papers we have counts for
9 papers
LocoFormer: Generalist Locomotion via Long-context Adaptation
Min Liu, Deepak Pathak, Ananye Agarwal
Modern locomotion controllers are manually tuned for specific embodiments. We present LocoFormer, a generalist omni-bodied locomotion model that can control previously unseen legge…
SAPG: Split and Aggregate Policy Gradients
Jayesh Singla, Ananye Agarwal, Deepak Pathak
Despite extreme sample inefficiency, on-policy reinforcement learning, aka policy gradients, has become a fundamental tool in decision-making problems. With the recent advances in…
SPIN: Simultaneous Perception, Interaction and Navigation
Shagun Uppal, Ananye Agarwal, Haoyu Xiong +2
While there has been remarkable progress recently in the fields of manipulation and locomotion, mobile manipulation remains a long-standing challenge. Compared to locomotion or sta…
Dexterous Functional Grasping
Ananye Agarwal, Shagun Uppal, Kenneth Shaw +1
While there have been significant strides in dexterous manipulation, most of it is limited to benchmark tasks like in-hand reorientation which are of limited utility in the real wo…
Extreme Parkour with Legged Robots
Xuxin Cheng, Kexin Shi, Ananye Agarwal +1
Humans can perform parkour by traversing obstacles in a highly dynamic fashion requiring precise eye-muscle coordination and movement. Getting robots to do the same task requires o…
LEAP Hand: Low-Cost, Efficient, and Anthropomorphic Hand for Robot Learning
Kenneth Shaw, Ananye Agarwal, Deepak Pathak
Dexterous manipulation has been a long-standing challenge in robotics. While machine learning techniques have shown some promise, results have largely been currently limited to sim…
Legged Locomotion in Challenging Terrains using Egocentric Vision
Ananye Agarwal, Ashish Kumar, Jitendra Malik +1
Animals are capable of precise and agile locomotion using vision. Replicating this ability has been a long-standing goal in robotics. The traditional approach has been to decompose…
Coupling Vision and Proprioception for Navigation of Legged Robots
Zipeng Fu, Ashish Kumar, Ananye Agarwal +3
We exploit the complementary strengths of vision and proprioception to develop a point-goal navigation system for legged robots, called VP-Nav. Legged systems are capable of traver…
End-to-End Neuro-Symbolic Architecture for Image-to-Image Reasoning Tasks
Ananye Agarwal, Pradeep Shenoy, Mausam
Neural models and symbolic algorithms have recently been combined for tasks requiring both perception and reasoning. Neural models ground perceptual input into a conceptual vocabul…