3 papers
cs.RO2026
Multi-Quadruped Cooperative Object Transport: Learning Decentralized Pinch-Lift-Move
Bikram Pandit, Aayam Kumar Shrestha, Alan Fern
We study decentralized cooperative transport using teams of N-quadruped robots with arm that must pinch, lift, and move ungraspable objects through physical contact alone. Unlike p…
cs.RO2025
Non-conflicting Energy Minimization in Reinforcement Learning based Robot Control
Skand Peri, Akhil Perincherry, Bikram Pandit +1
Efficient robot control often requires balancing task performance with energy expenditure. A common approach in reinforcement learning (RL) is to penalize energy use directly as pa…
cs.RO2025
Learning Decentralized Multi-Biped Control for Payload Transport
Bikram Pandit, Ashutosh Gupta, Mohitvishnu S. Gadde +5
Payload transport over flat terrain via multi-wheel robot carriers is well-understood, highly effective, and configurable. In this paper, our goal is to provide similar effectivene…