Search Results for author: Sethu Vijayakumar

Found 20 papers, 2 papers with code

ROS-PyBullet Interface: A Framework for Reliable Contact Simulation and Human-Robot Interaction

no code implementations13 Oct 2022 Christopher E. Mower, Theodoros Stouraitis, João Moura, Christian Rauch, Lei Yan, Nazanin Zamani Behabadi, Michael Gienger, Tom Vercauteren, Christos Bergeles, Sethu Vijayakumar

However, there is a lack of software connecting reliable contact simulation with the larger robotics ecosystem (i. e. ROS, Orocos), for a more seamless application of novel approaches, found in the literature, to existing robotic hardware.

Agile Maneuvers in Legged Robots: a Predictive Control Approach

no code implementations14 Mar 2022 Carlos Mastalli, Wolfgang Merkt, Guiyang Xin, Jaehyun Shim, Michael Mistry, Ioannis Havoutis, Sethu Vijayakumar

To the best of our knowledge, our predictive controller is the first to handle actuation limits, generate agile locomotion maneuvers, and execute optimal feedback policies for low level torque control without the use of a separate whole-body controller.

Set-based State Estimation with Probabilistic Consistency Guarantee under Epistemic Uncertainty

no code implementations18 Oct 2021 Shen Li, Theodoros Stouraitis, Michael Gienger, Sethu Vijayakumar, Julie A. Shah

Consistent state estimation is challenging, especially under the epistemic uncertainties arising from learned (nonlinear) dynamic and observation models.

AcousticFusion: Fusing Sound Source Localization to Visual SLAM in Dynamic Environments

no code implementations3 Aug 2021 Tianwei Zhang, Huayan Zhang, Xiaofei Li, Junfeng Chen, Tin Lun Lam, Sethu Vijayakumar

Dynamic objects in the environment, such as people and other agents, lead to challenges for existing simultaneous localization and mapping (SLAM) approaches.

Depth Estimation Simultaneous Localization and Mapping

PoseFusion2: Simultaneous Background Reconstruction and Human Shape Recovery in Real-time

no code implementations2 Aug 2021 Huayan Zhang, Tianwei Zhang, Tin Lun Lam, Sethu Vijayakumar

Dynamic environments that include unstructured moving objects pose a hard problem for Simultaneous Localization and Mapping (SLAM) performance.

Pose Estimation Simultaneous Localization and Mapping

A Passive Navigation Planning Algorithm for Collision-free Control of Mobile Robots

no code implementations1 Nov 2020 Carlo Tiseo, Vladimir Ivan, Wolfgang Merkt, Ioannis Havoutis, Michael Mistry, Sethu Vijayakumar

In literature, there are multiple model- and learning-based approaches that require significant computational resources to be effectively deployed and they may have limited generality.


RigidFusion: Robot Localisation and Mapping in Environments with Large Dynamic Rigid Objects

no code implementations21 Oct 2020 Ran Long, Christian Rauch, Tianwei Zhang, Vladimir Ivan, Sethu Vijayakumar

Here, we propose to treat all dynamic parts as one rigid body and simultaneously segment and track both static and dynamic components.


Memory Clustering using Persistent Homology for Multimodality- and Discontinuity-Sensitive Learning of Optimal Control Warm-starts

no code implementations2 Oct 2020 Wolfgang Merkt, Vladimir Ivan, Traiko Dinev, Ioannis Havoutis, Sethu Vijayakumar

We demonstrate our method on a cart-pole toy problem and a quadrotor avoiding obstacles, and show that clustering samples based on inherent structure improves the warm-start quality.


A Feasibility-Driven Approach to Control-Limited DDP

1 code implementation1 Oct 2020 Carlos Mastalli, Wolfgang Merkt, Josep Marti-Saumell, Henrique Ferrolho, Joan Sola, Nicolas Mansard, Sethu Vijayakumar

Differential dynamic programming (DDP) is a direct single shooting method for trajectory optimization.

Learning Whole-body Motor Skills for Humanoids

no code implementations7 Feb 2020 Chuanyu Yang, Kai Yuan, Wolfgang Merkt, Taku Komura, Sethu Vijayakumar, Zhibin Li

This paper presents a hierarchical framework for Deep Reinforcement Learning that acquires motor skills for a variety of push recovery and balancing behaviors, i. e., ankle, hip, foot tilting, and stepping strategies.

Crocoddyl: An Efficient and Versatile Framework for Multi-Contact Optimal Control

2 code implementations11 Sep 2019 Carlos Mastalli, Rohan Budhiraja, Wolfgang Merkt, Guilhem Saurel, Bilal Hammoud, Maximilien Naveau, Justin Carpentier, Ludovic Righetti, Sethu Vijayakumar, Nicolas Mansard

Additionally, we propose a novel optimal control algorithm called Feasibility-driven Differential Dynamic Programming (FDDP).

Robotics Optimization and Control

The ORCA Hub: Explainable Offshore Robotics through Intelligent Interfaces

no code implementations6 Mar 2018 Helen Hastie, Katrin Lohan, Mike Chantler, David A. Robb, Subramanian Ramamoorthy, Ron Petrick, Sethu Vijayakumar, David Lane

To enable this to happen, the remote operator will need a high level of situation awareness and key to this is the transparency of what the autonomous systems are doing and why.

A Framework for Testing Identifiability of Bayesian Models of Perception

no code implementations NeurIPS 2014 Luigi Acerbi, Wei Ji Ma, Sethu Vijayakumar

Bayesian observer models are very effective in describing human performance in perceptual tasks, so much so that they are trusted to faithfully recover hidden mental representations of priors, likelihoods, or loss functions from the data.

Experimental Design

An Approximate Inference Approach to Temporal Optimization in Optimal Control

no code implementations NeurIPS 2010 Konrad Rawlik, Marc Toussaint, Sethu Vijayakumar

Algorithms based on iterative local approximations present a practical approach to optimal control in robotic systems.

Multi-task Gaussian Process Learning of Robot Inverse Dynamics

no code implementations NeurIPS 2008 Christopher Williams, Stefan Klanke, Sethu Vijayakumar, Kian M. Chai

The inverse dynamics problem for a robotic manipulator is to compute the torques needed at the joints to drive it along a given trajectory; it is beneficial to be able to learn this function for adaptive control.

Multi-Task Learning

Unifying the Sensory and Motor Components of Sensorimotor Adaptation

no code implementations NeurIPS 2008 Adrian Haith, Carl P. Jackson, R. C. Miall, Sethu Vijayakumar

Adaptation of visually guided reaching movements in novel visuomotor environments (e. g. wearing prism goggles) comprises not only motor adaptation but also substantial sensory adaptation, corresponding to shifts in the perceived spatial location of visual and proprioceptive cues.

Bayesian Kernel Shaping for Learning Control

no code implementations NeurIPS 2008 Jo-Anne Ting, Mrinal Kalakrishnan, Sethu Vijayakumar, Stefan Schaal

In this paper, we focus on nonparametric regression and introduce a Bayesian formulation that, with the help of variational approximations, results in an EM-like algorithm for simultaneous estimation of regression and kernel parameters.

Gaussian Processes regression

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