5 papers
Rapid co-design of Buoyancy-assisted robots for Challenging Locomotion using Gaussian Evolutionary Specialists
Ankit Sinha, Nitish Sontakke, Dennis Hong +2
Designing high-performance legged robots requires jointly optimizing morphology and control. Model-free Reinforcement Learning (RL) offers an alternative to model-predictive contro…
Switch-JustDance: Benchmarking Whole Body Motion Tracking Controllers Using a Commercial Console Game
Jeonghwan Kim, Wontaek Kim, Yidan Lu +9
Recent advances in whole-body robot control have enabled humanoid and legged robots to perform increasingly agile and coordinated motions. However, standardized benchmarks for eval…
RobotDesignGPT: Automated Robot Design Synthesis using Vision Language Models
Nitish Sontakke, K. Niranjan Kumar, Sehoon Ha
Robot design is a nontrivial process that involves careful consideration of multiple criteria, including user specifications, kinematic structures, and visual appearance. Therefore…
Leveraging Procedural Knowledge and Task Hierarchies for Efficient Instructional Video Pre-training
Karan Samel, Nitish Sontakke, Irfan Essa
Instructional videos provide a convenient modality to learn new tasks (ex. cooking a recipe, or assembling furniture). A viewer will want to find a corresponding video that reflect…
Exploring Efficient Foundational Multi-modal Models for Video Summarization
Karan Samel, Apoorva Beedu, Nitish Sontakke +1
Foundational models are able to generate text outputs given prompt instructions and text, audio, or image inputs. Recently these models have been combined to perform tasks on video…