Search Results for author: Satvik Sharma

Found 8 papers, 2 papers with code

Conformal Policy Learning for Sensorimotor Control Under Distribution Shifts

no code implementations2 Nov 2023 Huang Huang, Satvik Sharma, Antonio Loquercio, Anastasios Angelopoulos, Ken Goldberg, Jitendra Malik

The key idea is the design of switching policies that can take conformal quantiles as input, which we define as conformal policy learning, that allows robots to detect distribution shifts with formal statistical guarantees.

Autonomous Driving Conformal Prediction

Language Embedded Radiance Fields for Zero-Shot Task-Oriented Grasping

no code implementations14 Sep 2023 Adam Rashid, Satvik Sharma, Chung Min Kim, Justin Kerr, Lawrence Chen, Angjoo Kanazawa, Ken Goldberg

Instead, we propose LERF-TOGO, Language Embedded Radiance Fields for Task-Oriented Grasping of Objects, which uses vision-language models zero-shot to output a grasp distribution over an object given a natural language query.


Learning to Efficiently Plan Robust Frictional Multi-Object Grasps

no code implementations13 Oct 2022 Wisdom C. Agboh, Satvik Sharma, Kishore Srinivas, Mallika Parulekar, Gaurav Datta, Tianshuang Qiu, Jeffrey Ichnowski, Eugen Solowjow, Mehmet Dogar, Ken Goldberg

In physical experiments, we find a 13. 7% increase in success rate, a 1. 6x increase in picks per hour, and a 6. 3x decrease in grasp planning time compared to prior work on multi-object grasping.

Friction Object

DEFT: Diverse Ensembles for Fast Transfer in Reinforcement Learning

no code implementations26 Sep 2022 Simeon Adebola, Satvik Sharma, Kaushik Shivakumar

In this work, we present Diverse Ensembles for Fast Transfer in RL (DEFT), a new ensemble-based method for reinforcement learning in highly multimodal environments and improved transfer to unseen environments.

Ensemble Learning reinforcement-learning +1

Automated Pruning of Polyculture Plants

no code implementations22 Aug 2022 Mark Presten, Rishi Parikh, Shrey Aeron, Sandeep Mukherjee, Simeon Adebola, Satvik Sharma, Mark Theis, Walter Teitelbaum, Ken Goldberg

Using an overhead camera to collect data from a physical scale garden testbed, the autonomous system utilizes a learned Plant Phenotyping convolutional neural network and a Bounding Disk Tracking algorithm to evaluate the individual plant distribution and estimate the state of the garden each day.

Plant Phenotyping

Fleet-DAgger: Interactive Robot Fleet Learning with Scalable Human Supervision

1 code implementation29 Jun 2022 Ryan Hoque, Lawrence Yunliang Chen, Satvik Sharma, Karthik Dharmarajan, Brijen Thananjeyan, Pieter Abbeel, Ken Goldberg

With continual learning, interventions from the remote pool of humans can also be used to improve the robot fleet control policy over time.

Continual Learning

AlphaGarden: Learning to Autonomously Tend a Polyculture Garden

1 code implementation11 Nov 2021 Mark Presten, Yahav Avigal, Mark Theis, Satvik Sharma, Rishi Parikh, Shrey Aeron, Sandeep Mukherjee, Sebastian Oehme, Simeon Adebola, Walter Teitelbaum, Varun Kamat, Ken Goldberg

This paper presents AlphaGarden: an autonomous polyculture garden that prunes and irrigates living plants in a 1. 5m x 3. 0m physical testbed.

Policy Gradient Bayesian Robust Optimization for Imitation Learning

no code implementations11 Jun 2021 Zaynah Javed, Daniel S. Brown, Satvik Sharma, Jerry Zhu, Ashwin Balakrishna, Marek Petrik, Anca D. Dragan, Ken Goldberg

Results suggest that PG-BROIL can produce a family of behaviors ranging from risk-neutral to risk-averse and outperforms state-of-the-art imitation learning algorithms when learning from ambiguous demonstrations by hedging against uncertainty, rather than seeking to uniquely identify the demonstrator's reward function.

Imitation Learning

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