4 papers · 1 filter
CART: Context-Aware Terrain Adaptation using Temporal Sequence Selection for Legged Robots
Kartikeya Singh, Youngjin Kim, Yash Turkar +1
Animals in nature combine multiple modalities, such as sight and feel, to perceive terrain and develop an understanding of how to walk on uneven terrain in an efficient manner. Sim…
Task-Conditioned Uncertainty Costmaps for Legged Locomotion
Kartikeya Singh, Christo Aluckal, Romeo Orsolino +1
Legged robots maintain dynamic feasibility through multicontact interactions with terrain. Learned foothold prediction can provide feasibility-aware costs for motion planning and p…
PANOS: Payload-Aware Navigation in Offroad Scenarios
Kartikeya Singh, Yash Turkar, Christo Aluckal +2
Nature has evolved humans to walk on different terrains by developing a detailed understanding of their physical characteristics. Similarly, legged robots need to develop their cap…
l-dyno: framework to learn consistent visual features using robot's motion
Kartikeya Singh, Charuvaran Adhivarahan, Karthik Dantu
Historically, feature-based approaches have been used extensively for camera-based robot perception tasks such as localization, mapping, tracking, and others. Several of these appr…