4 papers
The Unified Autonomy Stack: Toward a Blueprint for Generalizable Robot Autonomy
Mihir Dharmadhikari, Nikhil Khedekar, Mihir Kulkarni +7
We introduce and open-source the Unified Autonomy Stack, a system-level solution that enables resilient autonomy across diverse aerial and ground robot morphologies. The architectu…
Efficient Knowledge Transfer for Jump-Starting Control Policy Learning of Multirotors through Physics-Aware Neural Architectures
Welf Rehberg, Mihir Kulkarni, Philipp Weiss +1
Efficiently training control policies for robots is a major challenge that can greatly benefit from utilizing knowledge gained from training similar systems through cross-embodimen…
Performance-guided Task-specific Optimization for Multirotor Design
Etor Arza, Welf Rehberg, Philipp Weiss +2
This paper introduces a methodology for task-specific design optimization of multirotor Micro Aerial Vehicles. By leveraging reinforcement learning, Bayesian optimization, and cova…
UniPilot: Enabling GPS-Denied Autonomy Across Embodiments
Mihir Kulkarni, Mihir Dharmadhikari, Nikhil Khedekar +4
This paper presents UniPilot, a compact hardware-software autonomy payload that can be integrated across diverse robot embodiments to enable autonomous operation in GPS-denied envi…