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cs.RO2025
Learned IMU Bias Prediction for Invariant Visual Inertial Odometry
Abdullah Altawaitan, Jason Stanley, Sambaran Ghosal +2
Autonomous mobile robots operating in novel environments depend critically on accurate state estimation, often utilizing visual and inertial measurements. Recent work has shown tha…
cs.RO2023
Hamiltonian Dynamics Learning from Point Cloud Observations for Nonholonomic Mobile Robot Control
Abdullah Altawaitan, Jason Stanley, Sambaran Ghosal +2
Reliable autonomous navigation requires adapting the control policy of a mobile robot in response to dynamics changes in different operational conditions. Hand-designed dynamics mo…
cs.RO2022
Look Closer: Bridging Egocentric and Third-Person Views with Transformers for Robotic Manipulation
Rishabh Jangir, Nicklas Hansen, Sambaran Ghosal +2
Learning to solve precision-based manipulation tasks from visual feedback using Reinforcement Learning (RL) could drastically reduce the engineering efforts required by traditional…