Search Results for author: Mayank Mittal

Found 10 papers, 4 papers with code

Pedipulate: Enabling Manipulation Skills using a Quadruped Robot's Leg

no code implementations16 Feb 2024 Philip Arm, Mayank Mittal, Hendrik Kolvenbach, Marco Hutter

Additionally, the controller is robust to interaction forces at the foot, disturbances at the base, and slippery contact surfaces.

Self-Supervised Learning of Action Affordances as Interaction Modes

no code implementations27 May 2023 Liquan Wang, Nikita Dvornik, Rafael Dubeau, Mayank Mittal, Animesh Garg

We show in the experiments that such affordance learning predicts interaction which covers most modes of interaction for the querying articulated object and can be fine-tuned to a goal-conditional model.

Object Self-Supervised Learning

Transferring Dexterous Manipulation from GPU Simulation to a Remote Real-World TriFinger

1 code implementation22 Aug 2021 Arthur Allshire, Mayank Mittal, Varun Lodaya, Viktor Makoviychuk, Denys Makoviichuk, Felix Widmaier, Manuel Wüthrich, Stefan Bauer, Ankur Handa, Animesh Garg

We present a system for learning a challenging dexterous manipulation task involving moving a cube to an arbitrary 6-DoF pose with only 3-fingers trained with NVIDIA's IsaacGym simulator.

Position

Articulated Object Interaction in Unknown Scenes with Whole-Body Mobile Manipulation

1 code implementation18 Mar 2021 Mayank Mittal, David Hoeller, Farbod Farshidian, Marco Hutter, Animesh Garg

A kitchen assistant needs to operate human-scale objects, such as cabinets and ovens, in unmapped environments with dynamic obstacles.

Object

Neural Lyapunov Model Predictive Control

no code implementations28 Sep 2020 Mayank Mittal, Marco Gallieri, Alessio Quaglino, Seyed Sina Mirrazavi Salehian, Jan Koutnik

With a growing interest in data-driven control techniques, Model Predictive Control (MPC) provides a significant opportunity to exploit the surplus of data reliably, particularly while taking safety and stability into account.

Continuous Control Model Predictive Control

Learning Camera Miscalibration Detection

1 code implementation24 May 2020 Andrei Cramariuc, Aleksandar Petrov, Rohit Suri, Mayank Mittal, Roland Siegwart, Cesar Cadena

Self-diagnosis and self-repair are some of the key challenges in deploying robotic platforms for long-term real-world applications.

Neural Lyapunov Model Predictive Control: Learning Safe Global Controllers from Sub-optimal Examples

no code implementations21 Feb 2020 Mayank Mittal, Marco Gallieri, Alessio Quaglino, Seyed Sina Mirrazavi Salehian, Jan Koutník

With a growing interest in data-driven control techniques, Model Predictive Control (MPC) provides an opportunity to exploit the surplus of data reliably, particularly while taking safety and stability into account.

Continuous Control Model Predictive Control

Vision-Based Autonomous UAV Navigation and Landing for Urban Search and Rescue

no code implementations4 Jun 2019 Mayank Mittal, Rohit Mohan, Wolfram Burgard, Abhinav Valada

This problem is extremely challenging as pre-existing maps cannot be leveraged for navigation due to structural changes that may have occurred.

Navigate

Vision-based Autonomous Landing in Catastrophe-Struck Environments

no code implementations15 Sep 2018 Mayank Mittal, Abhinav Valada, Wolfram Burgard

However, these UAVs have to be able to autonomously land on debris piles in order to accurately locate the survivors.

Robotics

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