172 citations · 924 across the 40 of their papers we have counts for
48 papers
DeepSRGM -- Sequence Classification and Ranking in Indian Classical Music with Deep Learning
Sathwik Tejaswi Madhusudhan, Girish Chowdhary
A vital aspect of Indian Classical Music (ICM) is Raga, which serves as a melodic framework for compositions and improvisations alike. Raga Recognition is an important music inform…
Online Segmented Recursive Least-Squares for Multipath Doppler Tracking
Jae Won Choi, Girish Chowdhary, Andrew C. Singer +4
Underwater communication signals typically suffer from distortion due to motion-induced Doppler. Especially in shallow water environments, recovering the signal is challenging due…
Towards Accurate Human Motion Prediction via Iterative Refinement
Jiarui Sun, Girish Chowdhary
Human motion prediction aims to forecast an upcoming pose sequence given a past human motion trajectory. To address the problem, in this work we propose FreqMRN, a human motion pre…
CoMusion: Towards Consistent Stochastic Human Motion Prediction via Motion Diffusion
Jiarui Sun, Girish Chowdhary
Stochastic Human Motion Prediction (HMP) aims to predict multiple possible future human pose sequences from observed ones. Most prior works learn motion distributions through encod…
Unmatched uncertainty mitigation through neural network supported model predictive control
Mateus V. Gasparino, Prabhat K. Mishra, Girish Chowdhary
This paper presents a deep learning based model predictive control (MPC) algorithm for systems with unmatched and bounded state-action dependent uncertainties of unknown structure.…
Deep Model Predictive Control
Prabhat K. Mishra, Mateus V. Gasparino, Andres E. B. Velasquez +1
This paper presents a deep learning based model predictive control algorithm for control affine nonlinear discrete time systems with matched and bounded state-dependent uncertainti…
Reinforcement Learning-Based Air Traffic Deconfliction
Denis Osipychev, Dragos Margineantu, Girish Chowdhary
Remain Well Clear, keeping the aircraft away from hazards by the appropriate separation distance, is an essential technology for the safe operation of uncrewed aerial vehicles in c…
Dynamic Graph Node Classification via Time Augmentation
Jiarui Sun, Mengting Gu, Chin-Chia Michael Yeh +3
Node classification for graph-structured data aims to classify nodes whose labels are unknown. While studies on static graphs are prevalent, few studies have focused on dynamic gra…
Last-Mile Embodied Visual Navigation
Justin Wasserman, Karmesh Yadav, Girish Chowdhary +2
Realistic long-horizon tasks like image-goal navigation involve exploratory and exploitative phases. Assigned with an image of the goal, an embodied agent must explore to discover…
Multimedia Generative Script Learning for Task Planning
Qingyun Wang, Manling Li, Hou Pong Chan +4
Goal-oriented generative script learning aims to generate subsequent steps to reach a particular goal, which is an essential task to assist robots or humans in performing stereotyp…
Proactive Anomaly Detection for Robot Navigation with Multi-Sensor Fusion
Tianchen Ji, Arun Narenthiran Sivakumar, Girish Chowdhary +1
Despite the rapid advancement of navigation algorithms, mobile robots often produce anomalous behaviors that can lead to navigation failures. The ability to detect such anomalous b…
Visual Servoing for Pose Control of Soft Continuum Arm in a Structured Environment
Shivani Kamtikar, Samhita Marri, Benjamin Walt +3
For soft continuum arms, visual servoing is a popular control strategy that relies on visual feedback to close the control loop. However, robust visual servoing is challenging as i…
WayFAST: Navigation with Predictive Traversability in the Field
Mateus Valverde Gasparino, Arun Narenthiran Sivakumar, Yixiao Liu +5
We present a self-supervised approach for learning to predict traversable paths for wheeled mobile robots that require good traction to navigate. Our algorithm, termed WayFAST (Way…
Disentangling Successor Features for Coordination in Multi-agent Reinforcement Learning
Seung Hyun Kim, Neale Van Stralen, Girish Chowdhary +1
Multi-agent reinforcement learning (MARL) is a promising framework for solving complex tasks with many agents. However, a key challenge in MARL is defining private utility function…
Distributed State Estimation with Deep Neural Networks for Uncertain Nonlinear Systems under Event-Triggered Communication
Federico M. Zegers, Runhan Sun, Girish Chowdhary +1
Distributed state estimation is examined for a sensor network tasked with reconstructing a system's state through the use of a distributed and event-triggered observer. Each agent…
Stochastic Deep Model Reference Adaptive Control
Girish Joshi, Girish Chowdhary
In this paper, we present a Stochastic Deep Neural Network-based Model Reference Adaptive Control. Building on our work "Deep Model Reference Adaptive Control", we extend the contr…
Learned Visual Navigation for Under-Canopy Agricultural Robots
Arun Narenthiran Sivakumar, Sahil Modi, Mateus Valverde Gasparino +4
We describe a system for visually guided autonomous navigation of under-canopy farm robots. Low-cost under-canopy robots can drive between crop rows under the plant canopy and acco…
Multi-Sensor Fusion based Robust Row Following for Compact Agricultural Robots
Andres Eduardo Baquero Velasquez, Vitor Akihiro Hisano Higuti, Mateus Valverde Gasparino +3
This paper presents a state-of-the-art LiDAR based autonomous navigation system for under-canopy agricultural robots. Under-canopy agricultural navigation has been a challenging pr…
Forced Variational Integrator Networks for Prediction and Control of Mechanical Systems
Aaron Havens, Girish Chowdhary
As deep learning becomes more prevalent for prediction and control of real physical systems, it is important that these overparameterized models are consistent with physically plau…
Adaptive Policy Transfer in Reinforcement Learning
Girish Joshi, Girish Chowdhary
Efficient and robust policy transfer remains a key challenge for reinforcement learning to become viable for real-wold robotics. Policy transfer through warm initialization, imitat…
Deep Model Predictive Control with Stability Guarantees
Prabhat K. Mishra, Mateus V. Gasparino, Andres E. B. Velsasquez +1
This paper presents a deep learning based model predictive control algorithm for control affine nonlinear discrete time systems with matched and bounded state dependent uncertainti…
A Self-Learning Disturbance Observer for Nonlinear Systems in Feedback-Error Learning Scheme
Erkan Kayacan, Joshua M. Peschel, Girish Chowdhary
This paper represents a novel online self-learning disturbance observer (SLDO) by benefiting from the combination of a type-2 neuro-fuzzy structure (T2NFS), feedback-error learning…
Multi-agent Aerial Monitoring of Moving Convoys using Elliptical Orbits
Aseem Vivek Borkar, Girish Chowdhary
We propose a novel scheme for surveillance of a dynamic ground convoy moving along a non-linear trajectory, by aerial agents that maintain a uniformly spaced formation on a time-va…
High Precision Control of Tracked Field Robots in the Presence of Unknown Traction Coefficients
Erkan Kayacan, Sierra N. Young, Joshua M. Peschel +1
Accurate steering through crop rows that avoids crop damage is one of the most important tasks for agricultural robots utilized in various field operations, such as monitoring, mec…