65 citations · 172 across the 14 of their papers we have counts for
8 papers · 1 filter
SE(3) Neural Potential Fields for 6-DoF Trajectory Planning Directly from Images Without Explicit 3D Reconstruction
Jeffrey Eiyike, Masoud Ataei, Elvis Gyaase +1
Reaching a 6-DoF grasp pose in clutter requires a collision-free trajectory, conventionally obtained by reconstructing the scene in 3D and planning inside that reconstruction, at t…
Safe Control Synthesis with Uncertain Dynamics and Constraints
Kehan Long, Vikas Dhiman, Melvin Leok +2
This paper considers safe control synthesis for dynamical systems with either probabilistic or worst-case uncertainty in both the dynamics model and the safety constraints. We form…
OrcVIO: Object residual constrained Visual-Inertial Odometry
Mo Shan, Vikas Dhiman, Qiaojun Feng +2
Introducing object-level semantic information into simultaneous localization and mapping (SLAM) system is critical. It not only improves the performance but also enables tasks spec…
Learning from Interventions using Hierarchical Policies for Safe Learning
Jing Bi, Vikas Dhiman, Tianyou Xiao +1
Learning from Demonstrations (LfD) via Behavior Cloning (BC) works well on multiple complex tasks. However, a limitation of the typical LfD approach is that it requires expert demo…
Probabilistic Safety Constraints for Learned High Relative Degree System Dynamics
Mohammad Javad Khojasteh, Vikas Dhiman, Massimo Franceschetti +1
This paper focuses on learning a model of system dynamics online while satisfying safety constraints.Our motivation is to avoid offline system identification or hand-specified dyna…
A Critical Investigation of Deep Reinforcement Learning for Navigation
Vikas Dhiman, Shurjo Banerjee, Brent Griffin +2
The navigation problem is classically approached in two steps: an exploration step, where map-information about the environment is gathered; and an exploitation step, where this in…
Spatiotemporal Articulated Models for Dynamic SLAM
Suren Kumar, Vikas Dhiman, Madan Ravi Ganesh +1
We propose an online spatiotemporal articulation model estimation framework that estimates both articulated structure as well as a temporal prediction model solely using passive ob…
Mutual Localization: Two Camera Relative 6-DOF Pose Estimation from Reciprocal Fiducial Observation
Vikas Dhiman, Julian Ryde, Jason J. Corso
Concurrently estimating the 6-DOF pose of multiple cameras or robots---cooperative localization---is a core problem in contemporary robotics. Current works focus on a set of mutual…