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cs.RO2025
DiffCoTune: Differentiable Co-Tuning for Cross-domain Robot Control
Lokesh Krishna, Sheng Cheng, Junheng Li +2
The deployment of robot controllers is hindered by modeling discrepancies due to necessary simplifications for computational tractability or inaccuracies in data-generating simulat…
cs.RO2024
Preferenced Oracle Guided Multi-mode Policies for Dynamic Bipedal Loco-Manipulation
Prashanth Ravichandar, Lokesh Krishna, Nikhil Sobanbabu +1
Dynamic loco-manipulation calls for effective whole-body control and contact-rich interactions with the object and the environment. Existing learning-based control synthesis relies…
cs.RO2024
OGMP: Oracle Guided Multi-mode Policies for Agile and Versatile Robot Control
Lokesh Krishna, Nikhil Sobanbabu, Quan Nguyen
The efficacy of reinforcement learning for robot control relies on the tailored integration of task-specific priors and heuristics for effective exploration, which challenges their…