4 citations · 4 across the 6 of their papers we have counts for
5 papers · 1 filter
Actuator Dynamics Curricula for Narrow-Viability Tasks in Legged Robot Learning
Kousheek Chakraborty, Chandan K. Rajendra, Ayham Alharbat +1
Reinforcement learning has produced capable controllers across a broad range of legged-robot tasks, but a subset of these tasks fail to converge under standard training: those for…
A Modular Dual-Camera Pipeline for Micro-Inspection Using Aerial Robots
S. H. Mirtajadini, N. Rublein, R. M. Ramakrishnan +3
Most existing drone-based inspection systems require the drone to fly dangerously close to the target or follow complex flight paths to capture small details. In addition, drone fl…
External-Wrench Estimation for Aerial Robots Exploiting a Learned Model
Ayham Alharbat, Gabriele Ruscelli, Roberto Diversi +1
This paper presents an external wrench estimator that uses a hybrid dynamics model consisting of a first-principles model and a neural network. This framework addresses one of the…
RL-based Control of UAS Subject to Significant Disturbance
Kousheek Chakraborty, Thijs Hof, Ayham Alharbat +1
This paper proposes a Reinforcement Learning (RL)-based control framework for position and attitude control of an Unmanned Aerial System (UAS) subjected to significant disturbance…
Low Dimensional State Representation Learning with Robotics Priors in Continuous Action Spaces
Nicolò Botteghi, Khaled Alaa, Mannes Poel +4
Autonomous robots require high degrees of cognitive and motoric intelligence to come into our everyday life. In non-structured environments and in the presence of uncertainties, su…