3 papers
cs.RO2026
Infeasible optimization problems and the hierarchical augmented Lagrangian method in imitation learning
Roland Andrews, Justin Carpentier, Ajay Sathya
Imitation learning (IL) is an effective approach to train complex robotics policies. Recent works have introduced hard constraints into imitation-learning optimization problems to…
cs.RO2024
PV-OSIMr: A Lowest Order Complexity Algorithm for Computing the Delassus Matrix
Ajay Suresha Sathya, Wilm Decre, Jan Swevers
We present PV-OSIMr, an efficient algorithm for computing the Delassus matrix (also known as the inverse operational space inertia matrix) for a kinematic tree, with the lowest ord…
cs.RO2024
Constrained Dynamics Simulation: More With Less
Ajay Suresha Sathya
Efficient robot dynamics simulation is a fundamental problem key for robot control, identification, design and analysis. This research statement explores my current progress in thi…