31 citations · 155 across the 25 of their papers we have counts for
25 papers
Learning Vision-based Pursuit-Evasion Robot Policies
Andrea Bajcsy, Antonio Loquercio, Ashish Kumar +1
Learning strategic robot behavior -- like that required in pursuit-evasion interactions -- under real-world constraints is extremely challenging. It requires exploiting the dynamic…
Manipulator as a Tail: Promoting Dynamic Stability for Legged Locomotion
Huang Huang, Antonio Loquercio, Ashish Kumar +3
For locomotion, is an arm on a legged robot a liability or an asset for locomotion? Biological systems evolved additional limbs beyond legs that facilitates postural control. This…
Legs as Manipulator: Pushing Quadrupedal Agility Beyond Locomotion
Xuxin Cheng, Ashish Kumar, Deepak Pathak
Locomotion has seen dramatic progress for walking or running across challenging terrains. However, robotic quadrupeds are still far behind their biological counterparts, such as do…
Offline Robot Reinforcement Learning with Uncertainty-Guided Human Expert Sampling
Ashish Kumar, Ilya Kuzovkin
Recent advances in batch (offline) reinforcement learning have shown promising results in learning from available offline data and proved offline reinforcement learning to be an es…
Legged Locomotion in Challenging Terrains using Egocentric Vision
Ananye Agarwal, Ashish Kumar, Jitendra Malik +1
Animals are capable of precise and agile locomotion using vision. Replicating this ability has been a long-standing goal in robotics. The traditional approach has been to decompose…
Learning Visual Locomotion with Cross-Modal Supervision
Antonio Loquercio, Ashish Kumar, Jitendra Malik
In this work, we show how to learn a visual walking policy that only uses a monocular RGB camera and proprioception. Since simulating RGB is hard, we necessarily have to learn visi…