5 papers · 1 filter
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…
Distributed Multi-robot Source Seeking in Unknown Environments with Unknown Number of Sources
Lingpeng Chen, Siva Kailas, Srujan Deolasee +3
We introduce a novel distributed source seeking framework, DIAS, designed for multi-robot systems in scenarios where the number of sources is unknown and potentially exceeds the nu…
DyPNIPP: Predicting Environment Dynamics for RL-based Robust Informative Path Planning
Srujan Deolasee, Siva Kailas, Wenhao Luo +2
Informative path planning (IPP) is an important planning paradigm for various real-world robotic applications such as environment monitoring. IPP involves planning a path that can…
OffRIPP: Offline RL-based Informative Path Planning
Srikar Babu Gadipudi, Srujan Deolasee, Siva Kailas +3
Informative path planning (IPP) is a crucial task in robotics, where agents must design paths to gather valuable information about a target environment while adhering to resource c…
Spatio-temporal Motion Planning for Autonomous Vehicles with Trapezoidal Prism Corridors and Bézier Curves
Srujan Deolasee, Qin Lin, Jialun Li +1
Safety-guaranteed motion planning is critical for self-driving cars to generate collision-free trajectories. A layered motion planning approach with decoupled path and speed planni…