4 citations · 4 across the 16 of their papers we have counts for
20 papers
Tangent bundles of Quot schemes of vector bundles on curves
Ashima Bansal, Supravat Sarkar, Shivam Vats
For a vector bundle on a smooth projective curve , one defines the Quot scheme parametrizing subsheaves of having length torsion quotients. We describe…
Torelli theorems for Quot schemes of vector bundles on curves
Ashima Bansal, Supravat Sarkar, Shivam Vats
For a vector bundle on a smooth projective curve , one defines the Quot scheme parametrizing subsheaves of having length torsion quotients. If is a…
Deliberate Practice: Learning Robot Skills under a Budget
Shivam Vats, Sudarshan Harithas, Mete Tuluhan Akbulut +2
We consider the problem of autonomously learning robot skills under a limited practice budget for sequential tasks. We propose an active skill learning algorithm, \emph{Deliberate…
Positive Cones of Parabolic Grassmann Bundle over a curve
Ashima Bansal, Shivam Vats
In this article, we define the parabolic Grassmann bundle associated to a parabolic vector bundle over a smooth projective variety, generalizing the construction of parabolic proje…
When Life Gives You BC, Make Q-functions: Extracting Q-values from Behavior Cloning for On-Robot Reinforcement Learning
Lakshita Dodeja, Ondrej Biza, Shivam Vats +5
Behavior Cloning (BC) has emerged as a highly effective paradigm for robot learning. However, BC lacks a self-guided mechanism for online improvement after demonstrations have been…
Creative Robot Tool Use by Counterfactual Reasoning
M. Tuluhan Akbulut, Varun Satheesh, Ahmed Jaafar +5
We propose a causal reasoning framework for creative robot tool use where a suitable tool for a task is correctly identified for use beyond its primary objectives. The proposed fra…
Singularity of cubic hypersurfaces and hyperplane sections of projectivized tangent bundle of projective space
Ashima Bansal, Supravat Sarkar, Shivam Vats
We show that the normal points of a cubic hypersurface in projective space have canonical singularities unless the hypersurface is an iterated cone over an elliptic curve. As an ap…
Automorphisms of punctual Hilbert schemes and symmetric powers of varieties
Ashima Bansal, Supravat Sarkar, Shivam Vats
We classify complex smooth projective surfaces whose punctual Hilbert scheme has a non-natural automorphism preserving the big diagonal. This completely answers a question raised b…
Isomorphisms and automorphisms of multiprojective bundles and symmetric powers of projective bundles
Ashima Bansal, Supravat Sarkar, Shivam Vats
We describe when two multiprojective bundles (fibre products of projective bundles over the same base) over projective spaces are isomorphic as abstract varieties. We also describe…
Symmetric power of higher dimensional varieties
Ashima Bansal, Supravat Sarkar, Shivam Vats
We study several properties of the symmetric power of a smooth variety . We describe the Picard and divisor class groups of when is projective. We give a compl…
Accelerating Residual Reinforcement Learning with Uncertainty Estimation
Lakshita Dodeja, Karl Schmeckpeper, Shivam Vats +4
Residual Reinforcement Learning (RL) is a popular approach for adapting pretrained policies by learning a lightweight residual policy that provides corrective actions. While Residu…
Optimal Interactive Learning on the Job via Facility Location Planning
Shivam Vats, Michelle Zhao, Patrick Callaghan +4
Collaborative robots must continually adapt to novel tasks and user preferences without overburdening the user. While prior interactive robot learning methods aim to reduce human e…
RecoveryChaining: Learning Local Recovery Policies for Robust Manipulation
Shivam Vats, Devesh K. Jha, Maxim Likhachev +2
Model-based planners and controllers are commonly used to solve complex manipulation problems as they can efficiently optimize diverse objectives and generalize to long horizon tas…
Multi-Robot Motion Planning with Diffusion Models
Yorai Shaoul, Itamar Mishani, Shivam Vats +2
Diffusion models have recently been successfully applied to a wide range of robotics applications for learning complex multi-modal behaviors from data. However, prior works have mo…
Extremal Contraction of Projective Bundles
Ashima Bansal, Supravat Sarkar, Shivam Vats
In this article, we explore the extremal contractions of several projective bundles over smooth Fano varieties of Picard rank . We provide a whole class of examples of projectiv…
Correspondence between Projective bundles over and rational Hypersurfaces in
Shivam Vats
Let E be the restriction of the null-correlation bundle on to a hyperplane. In this article, we show that the projective bundle is isomorphic to a…
Isomorphism of Multiprojective Bundles and Projective Towers
Ashima Bansal, Supravat Sarkar, Shivam Vats
We study when two projective bundles over two arbitrary smooth projective varieties of different dimensions can be isomorphic. We show that two multi-projective bundles (fibre prod…
Efficient Recovery Learning using Model Predictive Meta-Reasoning
Shivam Vats, Maxim Likhachev, Oliver Kroemer
Operating under real world conditions is challenging due to the possibility of a wide range of failures induced by execution errors and state uncertainty. In relatively benign sett…
Synergistic Scheduling of Learning and Allocation of Tasks in Human-Robot Teams
Shivam Vats, Oliver Kroemer, Maxim Likhachev
We consider the problem of completing a set of tasks with a human-robot team using minimum effort. In many domains, teaching a robot to be fully autonomous can be counterproduc…
Search-Based Task Planning with Learned Skill Effect Models for Lifelong Robotic Manipulation
Jacky Liang, Mohit Sharma, Alex LaGrassa +3
Robots deployed in many real-world settings need to be able to acquire new skills and solve new tasks over time. Prior works on planning with skills often make assumptions on the s…