Gaurav S. Sukhatme

NeuralSim: Augmenting Differentiable Simulators with Neural Networks

Differentiable simulators provide an avenue for closing the sim-to-real ...
11/09/2020 ∙ by Eric Heiden, et al. ∙ 0 ∙ share

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Motion Planner Augmented Reinforcement Learning for Robot Manipulation in Obstructed Environments

Deep reinforcement learning (RL) agents are able to learn contact-rich m...
10/22/2020 ∙ by Jun Yamada, et al. ∙ 9 ∙ share

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Learning Equality Constraints for Motion Planning on Manifolds

Constrained robot motion planning is a widely used technique to solve co...
09/24/2020 ∙ by Giovanni Sutanto, et al. ∙ 0 ∙ share

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Resilient Monitoring in Heterogeneous Multi-robot Systems through Network Reconfiguration

We propose a framework for resilience in a networked heterogeneous multi...
08/04/2020 ∙ by Ragesh K. Ramachandran, et al. ∙ 0 ∙ share

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Augmenting Differentiable Simulators with Neural Networks to Close the Sim2Real Gap

We present a differentiable simulation architecture for articulated rigi...
07/12/2020 ∙ by Eric Heiden, et al. ∙ 0 ∙ share

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Supervised Learning and Reinforcement Learning of Feedback Models for Reactive Behaviors: Tactile Feedback Testbed

Robots need to be able to adapt to unexpected changes in the environment...
06/29/2020 ∙ by Giovanni Sutanto, et al. ∙ 0 ∙ share

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Confidence-rich grid mapping

Representing the environment is a fundamental task in enabling robots to...
06/29/2020 ∙ by Ali-akbar Agha-mohammadi, et al. ∙ 5 ∙ share

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Learning Manifolds for Sequential Motion Planning

Motion planning with constraints is an important part of many real-world...
06/13/2020 ∙ by Isabel M. Rayas Fernández, et al. ∙ 0 ∙ share

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Sampling-Based Motion Planning on Manifold Sequences

We address the problem of planning robot motions in constrained configur...
06/03/2020 ∙ by Peter Englert, et al. ∙ 0 ∙ share

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Plan-Space State Embeddings for Improved Reinforcement Learning

Robot control problems are often structured with a policy function that ...
04/30/2020 ∙ by Max Pflueger, et al. ∙ 0 ∙ share

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Efficient Adaptation for End-to-End Vision-Based Robotic Manipulation

One of the great promises of robot learning systems is that they will be...
04/21/2020 ∙ by Ryan Julian, et al. ∙ 29 ∙ share

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Resilience in multi-robot multi-target tracking with unknown number of targets through reconfiguration

We address the problem of maintaining resource availability in a network...
04/15/2020 ∙ by Ragesh K. Ramachandran, et al. ∙ 0 ∙ share

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On Localizing a Camera from a Single Image

Public cameras often have limited metadata describing their attributes. ...
03/24/2020 ∙ by Pradipta Ghosh, et al. ∙ 5 ∙ share

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Experimental Comparison of Global Motion Planning Algorithms for Wheeled Mobile Robots

Planning smooth and energy-efficient motions for wheeled mobile robots i...
03/07/2020 ∙ by Eric Heiden, et al. ∙ 8 ∙ share

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Automatic Differentiation and Continuous Sensitivity Analysis of Rigid Body Dynamics

A key ingredient to achieving intelligent behavior is physical understan...
01/22/2020 ∙ by David Millard, et al. ∙ 0 ∙ share

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Physics-based Simulation of Continuous-Wave LIDAR for Localization, Calibration and Tracking

Light Detection and Ranging (LIDAR) sensors play an important role in th...
12/03/2019 ∙ by Eric Heiden, et al. ∙ 0 ∙ share

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Resilient Coverage: Exploring the Local-to-Global Trade-off

We propose a centralized control framework to select suitable robots fro...
10/03/2019 ∙ by Ragesh K. Ramachandran, et al. ∙ 0 ∙ share

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Resilience in multi-robot target tracking through reconfiguration

We address the problem of maintaining resource availability in a network...
10/03/2019 ∙ by Ragesh K. Ramachandran, et al. ∙ 0 ∙ share

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Interactive Differentiable Simulation

Intelligent agents need a physical understanding of the world to predict...
05/26/2019 ∙ by Eric Heiden, et al. ∙ 0 ∙ share

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Resilience by Reconfiguration: Exploiting Heterogeneity in Robot Teams

We propose a method to maintain high resource in a networked heterogeneo...
03/12/2019 ∙ by Ragesh K. Ramachandran, et al. ∙ 0 ∙ share

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Sim-to-(Multi)-Real: Transfer of Low-Level Robust Control Policies to Multiple Quadrotors

Quadrotor stabilizing controllers often require careful, model-specific ...
03/11/2019 ∙ by Artem Molchanov, et al. ∙ 0 ∙ share

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Auto-conditioned Recurrent Mixture Density Networks for Complex Trajectory Generation

Recent advancements in machine learning research have given rise to recu...
09/29/2018 ∙ by Hejia Zhang, et al. ∙ 0 ∙ share

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Planning Safe Paths through Hazardous Environments

Autonomous underwater vehicles (AUVs) are robotic platforms that are com...
03/02/2018 ∙ by Chris Denniston, et al. ∙ 0 ∙ share

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A Spatio-Temporal Representation for the Orienteering Problem with Time-Varying Profits

We consider an orienteering problem (OP) where an agent needs to visit a...
11/24/2016 ∙ by Zhibei Ma, et al. ∙ 0 ∙ share

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Informative Planning and Online Learning with Sparse Gaussian Processes

A big challenge in environmental monitoring is the spatiotemporal variat...
09/24/2016 ∙ by Kai-Chieh Ma, et al. ∙ 0 ∙ share

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Active Classification: Theory and Application to Underwater Inspection

We discuss the problem in which an autonomous vehicle must classify an o...
06/29/2011 ∙ by Geoffrey A. Hollinger, et al. ∙ 0 ∙ share

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Gaurav S. Sukhatme

Featured Co-authors

Sergey Levine

Chelsea Finn

Tao Chen

Sven Koenig

Magnus Egerstedt

Ali-akbar Agha-mohammadi

Franziska Meier

Stefan Schaal

Urbashi Mitra

Karol Hausman

Eric Heiden

NeuralSim: Augmenting Differentiable Simulators with Neural Networks

Motion Planner Augmented Reinforcement Learning for Robot Manipulation in Obstructed Environments

Learning Equality Constraints for Motion Planning on Manifolds

Resilient Monitoring in Heterogeneous Multi-robot Systems through Network Reconfiguration

Augmenting Differentiable Simulators with Neural Networks to Close the Sim2Real Gap

Supervised Learning and Reinforcement Learning of Feedback Models for Reactive Behaviors: Tactile Feedback Testbed

Confidence-rich grid mapping

Learning Manifolds for Sequential Motion Planning

Sampling-Based Motion Planning on Manifold Sequences

Plan-Space State Embeddings for Improved Reinforcement Learning

Efficient Adaptation for End-to-End Vision-Based Robotic Manipulation

Resilience in multi-robot multi-target tracking with unknown number of targets through reconfiguration

On Localizing a Camera from a Single Image

Experimental Comparison of Global Motion Planning Algorithms for Wheeled Mobile Robots

Automatic Differentiation and Continuous Sensitivity Analysis of Rigid Body Dynamics

Physics-based Simulation of Continuous-Wave LIDAR for Localization, Calibration and Tracking

Resilient Coverage: Exploring the Local-to-Global Trade-off

Resilience in multi-robot target tracking through reconfiguration

Interactive Differentiable Simulation

Resilience by Reconfiguration: Exploiting Heterogeneity in Robot Teams

Sim-to-(Multi)-Real: Transfer of Low-Level Robust Control Policies to Multiple Quadrotors

Auto-conditioned Recurrent Mixture Density Networks for Complex Trajectory Generation

Planning Safe Paths through Hazardous Environments

A Spatio-Temporal Representation for the Orienteering Problem with Time-Varying Profits

Informative Planning and Online Learning with Sparse Gaussian Processes

Active Classification: Theory and Application to Underwater Inspection