226 citations · 1k across the 102 of their papers we have counts for
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Physics-based Simulation of Continuous-Wave LIDAR for Localization, Calibration and Tracking
Eric Heiden, Ziang Liu, Ragesh K. Ramachandran +1
Light Detection and Ranging (LIDAR) sensors play an important role in the perception stack of autonomous robots, supplying mapping and localization pipelines with depth measurement…
Resilience in multi-robot target tracking through reconfiguration
Ragesh K. Ramachandran, Nicole Fronda, Gaurav S. Sukhatme
We address the problem of maintaining resource availability in a networked multi-robot system performing distributed target tracking. In our model, robots are equipped with sensing…
Resilient Coverage: Exploring the Local-to-Global Trade-off
Ragesh K. Ramachandran, Lifeng Zhou James A. Preiss, Gaurav S. Sukhatme
We propose a centralized control framework to select suitable robots from a heterogeneous pool and place them at appropriate locations to monitor a region for events of interest. I…
Meta-Learning via Learned Loss
Sarah Bechtle, Artem Molchanov, Yevgen Chebotar +4
Typically, loss functions, regularization mechanisms and other important aspects of training parametric models are chosen heuristically from a limited set of options. In this paper…
Interactive Differentiable Simulation
Eric Heiden, David Millard, Hejia Zhang +1
Intelligent agents need a physical understanding of the world to predict the impact of their actions in the future. While learning-based models of the environment dynamics have con…
Sim-to-(Multi)-Real: Transfer of Low-Level Robust Control Policies to Multiple Quadrotors
Artem Molchanov, Tao Chen, Wolfgang Hönig +3
Quadrotor stabilizing controllers often require careful, model-specific tuning for safe operation. We use reinforcement learning to train policies in simulation that transfer remar…