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pro vyhledávání: '"Krishna, Lokesh"'
Loco-manipulation calls for effective whole-body control and contact-rich interactions with the object and the environment. Existing learning-based control frameworks rely on task-specific engineered rewards, training a set of low-level skill policie
Externí odkaz:
http://arxiv.org/abs/2410.01030
The efficacy of reinforcement learning for robot control relies on the tailored integration of task-specific priors and heuristics for effective exploration, which challenges their straightforward application to complex tasks and necessitates a unifi
Externí odkaz:
http://arxiv.org/abs/2403.04205
Autor:
Krishna, Lokesh, Nguyen, Quan
In this paper, we propose a novel framework for synthesizing a single multimodal control policy capable of generating diverse behaviors (or modes) and emergent inherent transition maneuvers for bipedal locomotion. In our method, we first learn effici
Externí odkaz:
http://arxiv.org/abs/2303.05711
Autor:
Krishna, Lokesh, Castillo, Guillermo A., Mishra, Utkarsh A., Hereid, Ayonga, Kolathaya, Shishir
In this work, we demonstrate robust walking in the bipedal robot Digit on uneven terrains by just learning a single linear policy. In particular, we propose a new control pipeline, wherein the high-level trajectory modulator shapes the end-foot ellip
Externí odkaz:
http://arxiv.org/abs/2109.12665
Autor:
Krishna, Lokesh, Mishra, Utkarsh A., Castillo, Guillermo A., Hereid, Ayonga, Kolathaya, Shishir
In this paper, with a view toward deployment of light-weight control frameworks for bipedal walking robots, we realize end-foot trajectories that are shaped by a single linear feedback policy. We learn this policy via a model-free and a gradient-free
Externí odkaz:
http://arxiv.org/abs/2104.01662
Autor:
Paigwar, Kartik, Krishna, Lokesh, Tirumala, Sashank, Khetan, Naman, Sagi, Aditya, Joglekar, Ashish, Bhatnagar, Shalabh, Ghosal, Ashitava, Amrutur, Bharadwaj, Kolathaya, Shishir
In this paper, with a view toward fast deployment of locomotion gaits in low-cost hardware, we use a linear policy for realizing end-foot trajectories in the quadruped robot, Stoch $2$. In particular, the parameters of the end-foot trajectories are s
Externí odkaz:
http://arxiv.org/abs/2010.16342
Publikováno v:
In The Lancet Regional Health - Southeast Asia June 2023 13
Akademický článek
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