Search Results for author: Girish Chowdhary

Found 36 papers, 9 papers with code

DeepSRGM -- Sequence Classification and Ranking in Indian Classical Music with Deep Learning

no code implementations15 Feb 2024 Sathwik Tejaswi Madhusudhan, Girish Chowdhary

Our method achieves an accuracy of 88. 1% and 97 % during inference on the Comp Music Carnatic dataset and its 10 Raga subset respectively making it the state-of-the-art for the Raga recognition task.

Information Retrieval Music Information Retrieval +2

Gazebo Plants: Simulating Plant-Robot Interaction with Cosserat Rods

no code implementations4 Feb 2024 Junchen Deng, Samhita Marri, Jonathan Klein, Wojtek Pałubicki, Sören Pirk, Girish Chowdhary, Dominik L. Michels

Robotic harvesting has the potential to positively impact agricultural productivity, reduce costs, improve food quality, enhance sustainability, and to address labor shortage.

Image Segmentation object-detection +2

Exploitation-Guided Exploration for Semantic Embodied Navigation

no code implementations6 Nov 2023 Justin Wasserman, Girish Chowdhary, Abhinav Gupta, Unnat Jain

In the recent progress in embodied navigation and sim-to-robot transfer, modular policies have emerged as a de facto framework.

Benchmarking

Revealing the Power of Spatial-Temporal Masked Autoencoders in Multivariate Time Series Forecasting

no code implementations26 Sep 2023 Jiarui Sun, Yujie Fan, Chin-Chia Michael Yeh, Wei zhang, Girish Chowdhary

To address these issues, we propose Spatial-Temporal Masked Autoencoders (STMAE), an MTS forecasting framework that leverages masked autoencoders to enhance the performance of spatial-temporal baseline models.

Multivariate Time Series Forecasting Time Series

Towards Consistent Stochastic Human Motion Prediction via Motion Diffusion

no code implementations21 May 2023 Jiarui Sun, Girish Chowdhary

Stochastic Human Motion Prediction (HMP) aims to predict multiple possible upcoming pose sequences based on past human motion trajectories.

motion prediction Stochastic Human Motion Prediction

Towards Accurate Human Motion Prediction via Iterative Refinement

no code implementations8 May 2023 Jiarui Sun, Girish Chowdhary

To address the problem, in this work we propose FreqMRN, a human motion prediction framework that takes into account both the kinematic structure of the human body and the temporal smoothness nature of motion.

Human motion prediction Human Pose Forecasting +1

Unmatched uncertainty mitigation through neural network supported model predictive control

no code implementations22 Apr 2023 Mateus V. Gasparino, Prabhat K. Mishra, Girish Chowdhary

We utilize a deep neural network (DNN) as an oracle in the underlying optimization problem of learning based MPC (LBMPC) to estimate unmatched uncertainties.

Model Predictive Control

Deep Model Predictive Control

no code implementations27 Feb 2023 Prabhat K. Mishra, Mateus V. Gasparino, Andres E. B. Velasquez, Girish Chowdhary

This paper presents a deep learning based model predictive control algorithm for control affine nonlinear discrete time systems with matched and bounded state-dependent uncertainties of unknown structure.

Model Predictive Control

Reinforcement Learning-Based Air Traffic Deconfliction

no code implementations5 Jan 2023 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 congested airspace.

Decision Making reinforcement-learning +1

Context-Aware Relative Object Queries To Unify Video Instance and Panoptic Segmentation

1 code implementation CVPR 2023 Anwesa Choudhuri, Girish Chowdhary, Alexander G. Schwing

We evaluate the proposed approach across three challenging tasks: video instance segmentation, multi-object tracking and segmentation, and video panoptic segmentation.

Instance Segmentation Multi-Object Tracking +8

Last-Mile Embodied Visual Navigation

1 code implementation21 Nov 2022 Justin Wasserman, Karmesh Yadav, Girish Chowdhary, Abhinav Gupta, Unnat Jain

Realistic long-horizon tasks like image-goal navigation involve exploratory and exploitative phases.

Visual Navigation

Multimedia Generative Script Learning for Task Planning

1 code implementation25 Aug 2022 Qingyun Wang, Manling Li, Hou Pong Chan, Lifu Huang, Julia Hockenmaier, Girish Chowdhary, Heng Ji

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 stereotypical activities.

Contrastive Learning Descriptive +3

WayFAST: Navigation with Predictive Traversability in the Field

1 code implementation22 Mar 2022 Mateus Valverde Gasparino, Arun Narenthiran Sivakumar, Yixiao Liu, Andres Eduardo Baquero Velasquez, Vitor Akihiro Hisano Higuti, John Rogers, Huy Tran, Girish Chowdhary

We present a self-supervised approach for learning to predict traversable paths for wheeled mobile robots that require good traction to navigate.

Navigate

Visual Servoing for Pose Control of Soft Continuum Arm in a Structured Environment

no code implementations10 Feb 2022 Shivani Kamtikar, Samhita Marri, Benjamin Walt, Naveen Kumar Uppalapati, Girish Krishnan, Girish Chowdhary

For soft continuum arms, visual servoing is a popular control strategy that relies on visual feedback to close the control loop.

Distributed State Estimation with Deep Neural Networks for Uncertain Nonlinear Systems under Event-Triggered Communication

no code implementations3 Feb 2022 Federico M. Zegers, Runhan Sun, Girish Chowdhary, Warren E. Dixon

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.

Stochastic Deep Model Reference Adaptive Control

1 code implementation4 Aug 2021 Girish Joshi, Girish Chowdhary

In this paper, we present a Stochastic Deep Neural Network-based Model Reference Adaptive Control.

Forced Variational Integrator Networks for Prediction and Control of Mechanical Systems

no code implementations5 Jun 2021 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 plausible dynamics.

Inductive Bias

Adaptive Policy Transfer in Reinforcement Learning

no code implementations10 May 2021 Girish Joshi, Girish Chowdhary

Efficient and robust policy transfer remains a key challenge for reinforcement learning to become viable for real-wold robotics.

reinforcement-learning Reinforcement Learning (RL)

A Self-Learning Disturbance Observer for Nonlinear Systems in Feedback-Error Learning Scheme

no code implementations27 Mar 2021 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 scheme and sliding mode control (SMC) theory.

Self-Learning

High precision control and deep learning-based corn stand counting algorithms for agricultural robot

no code implementations21 Mar 2021 Zhongzhong Zhang, Erkan Kayacan, Benjamin Thompson, Girish Chowdhary

The robot, termed TerraSentia, is designed to automate the measurement of plant traits for efficient phenotyping as an alternative to manual measurements.

Model Predictive Control Visual Tracking

Assignment-Space-Based Multi-Object Tracking and Segmentation

1 code implementation ICCV 2021 Anwesa Choudhuri, Girish Chowdhary, Alexander G. Schwing

In contrast, we formulate a global method for MOTS over the space of assignments rather than detections: First, we find all top-k assignments of objects detected and segmented between any two consecutive frames and develop a structured prediction formulation to score assignment sequences across any number of consecutive frames.

Multi-Object Tracking Multi-Object Tracking and Segmentation +4

Multi-Modal Anomaly Detection for Unstructured and Uncertain Environments

1 code implementation15 Dec 2020 Tianchen Ji, Sri Theja Vuppala, Girish Chowdhary, Katherine Driggs-Campbell

To achieve high-levels of autonomy, modern robots require the ability to detect and recover from anomalies and failures with minimal human supervision.

Anomaly Detection

Towards Principled Objectives for Contrastive Disentanglement

no code implementations25 Sep 2019 Anwesa Choudhuri, Ashok Vardhan Makkuva, Ranvir Rana, Sewoong Oh, Girish Chowdhary, Alexander Schwing

%In fact, contrastive disentanglement and unsupervised recovery are often combined in that we seek additional variations that exhibit salient factors/properties.

Disentanglement

Deep Model Reference Adaptive Control

1 code implementation18 Sep 2019 Girish Joshi, Girish Chowdhary

We present a new neuroadaptive architecture: Deep Neural Network based Model Reference Adaptive Control (DMRAC).

Learning to Cope with Adversarial Attacks

no code implementations28 Jun 2019 Xian Yeow Lee, Aaron Havens, Girish Chowdhary, Soumik Sarkar

Hence, it is imperative that RL agents deployed in real-life applications have the capability to detect and mitigate adversarial attacks in an online fashion.

Decision Making Meta-Learning

Cross-Domain Transfer in Reinforcement Learning using Target Apprentice

no code implementations22 Jan 2018 Girish Joshi, Girish Chowdhary

Many of the available techniques approach the transfer architecture as a method of speeding up the target task learning.

reinforcement-learning Reinforcement Learning (RL) +1

Robust Deep Reinforcement Learning with Adversarial Attacks

no code implementations11 Dec 2017 Anay Pattanaik, Zhenyi Tang, Shuijing Liu, Gautham Bommannan, Girish Chowdhary

This paper proposes adversarial attacks for Reinforcement Learning (RL) and then improves the robustness of Deep Reinforcement Learning algorithms (DRL) to parameter uncertainties with the help of these attacks.

Q-Learning reinforcement-learning +1

Hierarchic Kernel Recursive Least-Squares

no code implementations14 Apr 2017 Hossein Mohamadipanah, Mahdi Heydari, Girish Chowdhary

We present a new kernel-based algorithm for modeling evenly distributed multidimensional datasets that does not rely on input space sparsification.

Kernel Observers: Systems-Theoretic Modeling and Inference of Spatiotemporally Evolving Processes

no code implementations NeurIPS 2016 Hassan A. Kingravi, Harshal R. Maske, Girish Chowdhary

We consider the problem of estimating the latent state of a spatiotemporally evolving continuous function using very few sensor measurements.

valid

Can Co-robots Learn to Teach?

no code implementations22 Nov 2016 Harshal Maske, Emily Kieson, Girish Chowdhary, Charles Abramson

We explore beyond existing work on learning from demonstration by asking the question: Can robots learn to teach?, that is, can a robot autonomously learn an instructional policy from expert demonstration and use it to instruct or collaborate with humans in executing complex tasks in uncertain environments?

Clustering

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