2 citations · 2 across the 5 of their papers we have counts for
5 papers
DreamControl-v2: Simpler and Scalable Autonomous Humanoid Skills via Trainable Guided Diffusion Priors
Sudarshan Harithas, Sangkyung Kwak, Pushkal Katara +6
Developing robust autonomous loco-manipulation skills for humanoids remains an open problem in robotics. While RL has been applied successfully to legged locomotion, applying it to…
DreamControl: Human-Inspired Whole-Body Humanoid Control for Scene Interaction via Guided Diffusion
Dvij Kalaria, Sudarshan S Harithas, Pushkal Katara +7
We introduce DreamControl, a novel methodology for learning autonomous whole-body humanoid skills. DreamControl leverages the strengths of diffusion models and Reinforcement Learni…
ODIN: A Single Model for 2D and 3D Segmentation
Ayush Jain, Pushkal Katara, Nikolaos Gkanatsios +5
State-of-the-art models on contemporary 3D segmentation benchmarks like ScanNet consume and label dataset-provided 3D point clouds, obtained through post processing of sensed multi…
Gen2Sim: Scaling up Robot Learning in Simulation with Generative Models
Pushkal Katara, Zhou Xian, Katerina Fragkiadaki
Generalist robot manipulators need to learn a wide variety of manipulation skills across diverse environments. Current robot training pipelines rely on humans to provide kinestheti…
DeepMPCVS: Deep Model Predictive Control for Visual Servoing
Pushkal Katara, Y V S Harish, Harit Pandya +5
The simplicity of the visual servoing approach makes it an attractive option for tasks dealing with vision-based control of robots in many real-world applications. However, attaini…