Gaurav S. Sukhatme

research

∙ 09/16/2023

CppFlow: Generative Inverse Kinematics for Efficient and Robust Cartesian Path Planning

In this work we present CppFlow - a novel and performant planner for the...

0 Jeremy Morgan, et al. ∙

research

∙ 08/25/2023

MRNAV: Multi-Robot Aware Planning and Control Stack for Collision and Deadlock-free Navigation in Cluttered Environments

Multi-robot collision-free and deadlock-free navigation in cluttered env...

0 Baskin Senbaslar, et al. ∙

research

∙ 08/02/2023

LEMMA: Learning Language-Conditioned Multi-Robot Manipulation

Complex manipulation tasks often require robots with complementary capab...

0 Ran Gong, et al. ∙

research

∙ 07/29/2023

DREAM: Decentralized Real-time Asynchronous Probabilistic Trajectory Planning for Collision-free Multi-Robot Navigation in Cluttered Environments

Collision-free navigation in cluttered environments with static and dyna...

0 Baskin Senbaslar, et al. ∙

research

∙ 06/15/2023

QuadSwarm: A Modular Multi-Quadrotor Simulator for Deep Reinforcement Learning with Direct Thrust Control

Reinforcement learning (RL) has shown promise in creating robust policie...

0 Zhehui Huang, et al. ∙

research

∙ 06/02/2023

Granular Gym: High Performance Simulation for Robotic Tasks with Granular Materials

Granular materials are of critical interest to many robotic tasks in pla...

0 David Millard, et al. ∙

research

∙ 05/30/2023

Generating Behaviorally Diverse Policies with Latent Diffusion Models

Recent progress in Quality Diversity Reinforcement Learning (QD-RL) has ...

0 Shashank Hegde, et al. ∙

research

∙ 05/26/2023

IndustReal: Transferring Contact-Rich Assembly Tasks from Simulation to Reality

Robotic assembly is a longstanding challenge, requiring contact-rich int...

0 Bingjie Tang, et al. ∙

research

∙ 04/14/2023

Reducing Network Load via Message Utility Estimation for Decentralized Multirobot Teams

We are motivated by quantile estimation of algae concentration in lakes ...

0 Isabel M. Rayas Fernández, et al. ∙

research

∙ 03/09/2023

Learned Parameter Selection for Robotic Information Gathering

When robots are deployed in the field for environmental monitoring they ...

0 Christopher Denniston, et al. ∙

research

∙ 03/06/2023

A Study on Multirobot Quantile Estimation in Natural Environments

Quantiles of a natural phenomena can provide scientists with an importan...

0 Isabel M. Rayas Fernández, et al. ∙

research

∙ 02/24/2023

Probabilistic Trajectory Planning for Static and Interaction-aware Dynamic Obstacle Avoidance

Collision-free mobile robot navigation is an important problem for many ...

0 Baskin Senbaslar, et al. ∙

research

∙ 01/30/2023

RREx-BoT: Remote Referring Expressions with a Bag of Tricks

Household robots operate in the same space for years. Such robots increm...

0 Gunnar A. Sigurdsson, et al. ∙

research

∙ 01/06/2023

Fast and Scalable Signal Inference for Active Robotic Source Seeking

In active source seeking, a robot takes repeated measurements in order t...

0 Christopher Denniston, et al. ∙

research

∙ 12/10/2022

OpenD: A Benchmark for Language-Driven Door and Drawer Opening

We introduce OPEND, a benchmark for learning how to use a hand to open c...

10 Yizhou Zhao, et al. ∙

research

∙ 11/30/2022

CLIP-Nav: Using CLIP for Zero-Shot Vision-and-Language Navigation

Household environments are visually diverse. Embodied agents performing ...

0 Vishnu Sashank Dorbala, et al. ∙

research

∙ 09/30/2022

Efficiently Learning Small Policies for Locomotion and Manipulation

Neural control of memory-constrained, agile robots requires small, yet h...

0 Shashank Hegde, et al. ∙

research

∙ 08/26/2022

CH-MARL: A Multimodal Benchmark for Cooperative, Heterogeneous Multi-Agent Reinforcement Learning

We propose a multimodal (vision-and-language) benchmark for cooperative ...

0 Vasu Sharma, et al. ∙

research

∙ 08/04/2022

Decentralized Risk-Aware Tracking of Multiple Targets

We consider the setting where a team of robots is tasked with tracking m...

0 Jiazhen Liu, et al. ∙

research

∙ 07/20/2022

Learning Deformable Object Manipulation from Expert Demonstrations

We present a novel Learning from Demonstration (LfD) method, Deformable ...

0 Gautam Salhotra, et al. ∙

research

∙ 06/21/2022

A Simple Approach for Visual Rearrangement: 3D Mapping and Semantic Search

Physically rearranging objects is an important capability for embodied a...

0 Brandon Trabucco, et al. ∙

research

∙ 05/24/2022

Loop Closure Prioritization for Efficient and Scalable Multi-Robot SLAM

Multi-robot SLAM systems in GPS-denied environments require loop closure...

0 Christopher Denniston, et al. ∙

research

∙ 02/27/2022

DialFRED: Dialogue-Enabled Agents for Embodied Instruction Following

Language-guided Embodied AI benchmarks requiring an agent to navigate an...

0 Xiaofeng Gao, et al. ∙

research

∙ 02/21/2022

The Role of Heterogeneity in Autonomous Perimeter Defense Problems

When is heterogeneity in the composition of an autonomous robotic team b...

0 Aviv Adler, et al. ∙

research

∙ 02/15/2022

Privacy Preserving Visual Question Answering

We introduce a novel privacy-preserving methodology for performing Visua...

4 Cristian-Paul Bara, et al. ∙

research

∙ 01/25/2022

Adaptive Sampling to Estimate Quantiles for Guiding Physical Sampling

Scientists interested in studying natural phenomena often take physical ...

0 Isabel M. Rayas Fernández, et al. ∙

research

∙ 11/11/2021

Distilling Motion Planner Augmented Policies into Visual Control Policies for Robot Manipulation

Learning complex manipulation tasks in realistic, obstructed environment...

0 I-Chun Arthur Liu, et al. ∙

research

∙ 11/10/2021

LUMINOUS: Indoor Scene Generation for Embodied AI Challenges

Learning-based methods for training embodied agents typically require a ...

14 Yizhou Zhao, et al. ∙

research

∙ 10/19/2021

A Simple Approach to Continual Learning by Transferring Skill Parameters

In order to be effective general purpose machines in real world environm...

0 K. R. Zentner, et al. ∙

research

∙ 09/25/2021

Beyond Robustness: A Taxonomy of Approaches towards Resilient Multi-Robot Systems

Robustness is key to engineering, automation, and science as a whole. Ho...

4 Amanda Prorok, et al. ∙

research

∙ 09/23/2021

Adaptive Sampling using POMDPs with Domain-Specific Considerations

We investigate improving Monte Carlo Tree Search based solvers for Parti...

0 Gautam Salhotra, et al. ∙

research

∙ 09/18/2021

Probabilistic Inference of Simulation Parameters via Parallel Differentiable Simulation

To accurately reproduce measurements from the real world, simulators nee...

0 Eric Heiden, et al. ∙

research

∙ 05/09/2021

Adaptive and Risk-Aware Target Tracking with Heterogeneous Robot Teams

We consider a scenario where a team of robots with heterogeneous sensors...

0 Siddharth Mayya, et al. ∙

research

∙ 04/24/2021

Adaptive Sampling: Algorithmic vs. Human Waypoint Selection

Robots are used for collecting samples from natural environments to crea...

0 Stephanie Kemna, et al. ∙

research

∙ 11/09/2020

NeuralSim: Augmenting Differentiable Simulators with Neural Networks

Differentiable simulators provide an avenue for closing the sim-to-real ...

0 Eric Heiden, et al. ∙

research

∙ 10/22/2020

Motion Planner Augmented Reinforcement Learning for Robot Manipulation in Obstructed Environments

Deep reinforcement learning (RL) agents are able to learn contact-rich m...

9 Jun Yamada, et al. ∙

research

∙ 09/24/2020

Learning Equality Constraints for Motion Planning on Manifolds

Constrained robot motion planning is a widely used technique to solve co...

0 Giovanni Sutanto, et al. ∙

research

∙ 08/04/2020

Resilient Monitoring in Heterogeneous Multi-robot Systems through Network Reconfiguration

We propose a framework for resilience in a networked heterogeneous multi...

0 Ragesh K. Ramachandran, et al. ∙

research

∙ 07/12/2020

Augmenting Differentiable Simulators with Neural Networks to Close the Sim2Real Gap

We present a differentiable simulation architecture for articulated rigi...

0 Eric Heiden, et al. ∙

research

∙ 06/29/2020

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...

0 Giovanni Sutanto, et al. ∙

research

∙ 06/29/2020

Confidence-rich grid mapping

Representing the environment is a fundamental task in enabling robots to...

5 Ali-akbar Agha-mohammadi, et al. ∙

research

∙ 06/13/2020

Learning Manifolds for Sequential Motion Planning

Motion planning with constraints is an important part of many real-world...

0 Isabel M. Rayas Fernández, et al. ∙

research

∙ 06/03/2020

Sampling-Based Motion Planning on Manifold Sequences

We address the problem of planning robot motions in constrained configur...

0 Peter Englert, et al. ∙

research

∙ 04/30/2020

Plan-Space State Embeddings for Improved Reinforcement Learning

Robot control problems are often structured with a policy function that ...

0 Max Pflueger, et al. ∙

research

∙ 04/21/2020

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

One of the great promises of robot learning systems is that they will be...

29 Ryan Julian, et al. ∙

research

∙ 04/15/2020

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...

0 Ragesh K. Ramachandran, et al. ∙

research

∙ 03/24/2020

On Localizing a Camera from a Single Image

Public cameras often have limited metadata describing their attributes. ...

5 Pradipta Ghosh, et al. ∙

research

∙ 03/07/2020

Experimental Comparison of Global Motion Planning Algorithms for Wheeled Mobile Robots

Planning smooth and energy-efficient motions for wheeled mobile robots i...

8 Eric Heiden, et al. ∙

research

∙ 01/22/2020

Automatic Differentiation and Continuous Sensitivity Analysis of Rigid Body Dynamics

A key ingredient to achieving intelligent behavior is physical understan...

0 David Millard, et al. ∙

research

∙ 12/03/2019

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

Light Detection and Ranging (LIDAR) sensors play an important role in th...

0 Eric Heiden, et al. ∙

Gaurav S. Sukhatme

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