4 citations · 4 across the 7 of their papers we have counts for
7 papers
Just Add Force for Contact-Rich Robot Policies
William Xie, Stefan Caldararu, Nikolaus Correll
Robot trajectories used for learning end-to-end robot policies typically contain end-effector and gripper position, workspace images, and language. Policies learned from such traje…
A Study on the Use of Simulation in Synthesizing Path-Following Control Policies for Autonomous Ground Robots
Harry Zhang, Stefan Caldararu, Aaron Young +8
We report results obtained and insights gained while answering the following question: how effective is it to use a simulator to establish path following control policies for an au…
Quantifying the Sim2real Gap for GPS and IMU Sensors
Ishaan Mahajan, Huzaifa Unjhawala, Harry Zhang +7
Simulation can and should play a critical role in the development and testing of algorithms for autonomous agents. What might reduce its impact is the ``sim2real'' gap -- the algor…
Zero-Shot Policy Transferability for the Control of a Scale Autonomous Vehicle
Harry Zhang, Stefan Caldararu, Sriram Ashokkumar +6
We report on a study that employs an in-house developed simulation infrastructure to accomplish zero shot policy transferability for a control policy associated with a scale autono…
Using simulation to design an MPC policy for field navigation using GPS sensing
Harry Zhang, Stefan Caldararu, Ishaan Mahajan +8
Modeling a robust control system with a precise GPS-based state estimation capability in simulation can be useful in field navigation applications as it allows for testing and vali…
ART/ATK: A research platform for assessing and mitigating the sim-to-real gap in robotics and autonomous vehicle engineering
Asher Elmquist, Aaron Young, Thomas Hansen +10
We discuss a platform that has both software and hardware components, and whose purpose is to support research into characterizing and mitigating the sim-to-real gap in robotics an…
A software toolkit and hardware platform for investigating and comparing robot autonomy algorithms in simulation and reality
Asher Elmquist, Aaron Young, Ishaan Mahajan +8
We describe a software framework and a hardware platform used in tandem for the design and analysis of robot autonomy algorithms in simulation and reality. The software, which is o…