113 citations · 229 across the 22 of their papers we have counts for
12 papers · 1 filter
Shifted-Chart Composition for Horizon-Optimal Time-Varying LQR
Viswas Dinesh, Spandan Roy
Horizon optimization in finite-horizon LQR treats the horizon as a decision variable and adds a penalty to the cost. Recent composition-based methods evaluate all candidat…
A Switched Adaptive Control Framework for Aerial Manipulators Under Dynamic Transitions
Rishabh Dev Yadav, Saksham Gupta, Amitabh Sharma +4
Aerial manipulators represent the forefront of aerial robotics. Although potentially capable of complex interaction tasks, controlling aerial manipulators throughout the dynamic tr…
AnyViewDex: View-Invariant Dexterous Manipulation from RGB Observations
Soham Patil, Om Sanjay Gunjal, Sourabh Bhosale +3
Visuomotor policies for multi-fingered dexterous manipulation are highly sensitive to camera viewpoint shifts. To achieve view invariance, recent methods increasingly rely on expli…
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, Shivansh Pratap Singh +4
Accurate dynamics modeling of aerial manipulators is challenging because platform--manipulator coupling, history-dependent interactions, and changing payload or manipulator configu…
AeroGrab: A Unified Framework for Aerial Grasping in Cluttered Environments
Shivansh Pratap Singh, Naveen Sudheer Nair, Samaksh Ujjawal +4
Reliable aerial grasping in cluttered environments remains challenging due to occlusions and collision risks. Existing aerial manipulation pipelines largely rely on centroid-based…
Learn Structure, Adapt on the Fly: Multi-Scale Residual Learning and Online Adaptation for Aerial Manipulators
Samaksh Ujjawal, Naveen Sudheer Nair, Shivansh Pratap Singh +3
Autonomous Aerial Manipulators (AAMs) are inherently coupled, nonlinear systems that exhibit nonstationary and multiscale residual dynamics, particularly during manipulator reconfi…
AeroPlace-Flow: Language-Grounded Object Placement for Aerial Manipulators via Visual Foresight and Object Flow
Sarthak Mishra, Rishabh Dev Yadav, Naveen Nair +2
Precise object placement remains underexplored in aerial manipulation, where most systems rely on predefined target coordinates and focus primarily on grasping and control. Specify…