3 papers
cs.RO2026
ViBe: Visual Behavior Adaptation for Perceptive Humanoid Whole-Body Control
Lokesh Krishna, Sarvesh Venkatesan, An Zhang +1
Motion tracking provides a scalable recipe for humanoid whole-body control. By design, the resulting trackers lack exteroceptive feedback hence reacting to the environment remains…
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…