1 citations · 2 across the 15 of their papers we have counts for
15 papers · 1 filter
NoContactNoWorries: Estimating Contact through Vision and Proprioception for In-Hand Dexterous Manipulation
Soham Patil, Avirup Das, Sourabh Bhosale +1
Perceiving physical contact is fundamental to dexterous manipulation. While robots often rely on dedicated hardware tactile sensors, humans exhibit a remarkable ability to infer co…
Reinforcement Learning with Inner-loop Dynamics Estimator for Aerial Manipulation under Uncertainty
Shivansh Pratap Singh, Samaksh Ujjwal, Ishita Chaudhary +3
Aerial manipulators enable physical interaction in hard-to-reach environments; however, the combined problem of direct whole-body aerial manipulation under rapid arm motion, payloa…
AERMANI-PLACE: Language Guided Object Placement with Aerial Manipulators
Sarthak Mishra, Ritama Sanyal, Rishabh Dev Yadav +2
Object placement is a fundamental component of aerial manipulation tasks, yet existing systems typically require the desired placement position to be specified explicitly in metric…
Physics-Aware Sparse Learning and Selective Online Adaptation for Euler-Lagrange Robot Dynamics
Rishabh Dev Yadav, Samaksh Ujjawal, Sihao Sun +2
Accurate dynamics models are essential for model-based robotic control, yet nominal Euler--Lagrange models often become inaccurate in the presence of payload variation, unmodeled c…
Adaptive Artificial Time-Delay Control with Barrier Lyapunov Constraints for Euler-Lagrange Robots
Saksham Gupta, Rishabh Dev Yadav, Sarthak Mishra +5
This paper addresses the challenge of simultaneously compensating for state-dependent uncertainties and enforcing time-varying state constraints in Euler-Lagrange systems, a common…
Learning Cross-Coupled and Regime Dependent Dynamics for Aerial Manipulation
Rishabh Dev Yadav, Samaksh Ujjawal, Sihao Sun +2
Accurate dynamics models are critical for aerial manipulators operating under complex tasks such as payload transport. However, modeling these systems remains fundamentally challen…