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pro vyhledávání: '"Shreyansh ."'
From a study of the subleading structure of the asymptotic equations of motion in Einstein-Yang-Mills theory, we construct charges that are conserved up to quadratic order in non-radiative vacuum. We then show that these higher spin charges obey the
Externí odkaz:
http://arxiv.org/abs/2412.01647
Autor:
Pitroda, Shreyansh, Sihite, Eric, Liu, Taoran, Krishnamurthy, Kaushik Venkatesh, Wang, Chenghao, Salagame, Adarsh, Nemovi, Reza, Ramezani, Alireza, Gharib, Morteza
Our work aims to make significant strides in understanding unexplored locomotion control paradigms based on the integration of posture manipulation and thrust vectoring. These techniques are commonly seen in nature, such as Chukar birds using their w
Externí odkaz:
http://arxiv.org/abs/2411.17727
Autor:
Pitroda, Shreyansh, Sihite, Eric, Liu, Taoran, Krishnamurthy, Kaushik Venkatesh, Wang, Chenghao, Salagame, Adarsh, Nemovi, Reza, Ramezani, Alireza, Gharib, Morteza
In a multi-modal system which combines thruster and legged locomotion such our state-of-the-art Harpy platform to perform dynamic locomotion. Therefore, it is very important to have a proper estimate of Thruster force. Harpy is a bipedal robot capabl
Externí odkaz:
http://arxiv.org/abs/2411.14596
Autor:
Pitroda, Shreyansh, Sihite, Eric, Krishnamurthy, Kaushik Venkatesh, Wang, Chenghao, Salagame, Adarsh, Nemovi, Reza, Ramezani, Alireza, Gharib, Morteza
Our work aims to make significant strides in understanding unexplored locomotion control paradigms based on the integration of posture manipulation and thrust vectoring. These techniques are commonly seen in nature, such as Chukar birds using their w
Externí odkaz:
http://arxiv.org/abs/2411.12968
Autor:
Krishnamurthy, Kaushik Venkatesh, Sihite, Eric, Wang, Chenghao, Pitroda, Shreyansh, Salagame, Adarsh, Ramezani, Alireza, Gharib, Morteza
Wing-assisted inclined running (WAIR) observed in some young birds, is an attractive maneuver that can be extended to legged aerial systems. This study proposes a control method using a modified Variable Length Inverted Pendulum (VLIP) by assuming a
Externí odkaz:
http://arxiv.org/abs/2411.11788
Autor:
Krishnamurthy, Kaushik Venkatesh, Wang, Chenghao, Pitroda, Shreyansh, Sihite, Eric, Ramezani, Alireza, Gharib, Morteza
Legged-aerial multimodal robots can make the most of both legged and aerial systems. In this paper, we propose a control framework that bypasses heavy onboard computers by using an optimization-free Explicit Reference Governor that incorporates exter
Externí odkaz:
http://arxiv.org/abs/2411.11216
Optimizing Mixture-of-Experts Inference Time Combining Model Deployment and Communication Scheduling
As machine learning models scale in size and complexity, their computational requirements become a significant barrier. Mixture-of-Experts (MoE) models alleviate this issue by selectively activating relevant experts. Despite this, MoE models are hind
Externí odkaz:
http://arxiv.org/abs/2410.17043
Autor:
Biswas, Shreyan, Jung, Ji-Youn, Unnam, Abhishek, Yadav, Kuldeep, Gupta, Shreyansh, Gadiraju, Ujwal
The persistent issue of human bias in recruitment processes poses a formidable challenge to achieving equitable hiring practices, particularly when influenced by demographic characteristics such as gender and race of both interviewers and candidates.
Externí odkaz:
http://arxiv.org/abs/2408.14159
Autor:
Pitroda, Shreyansh, Bondada, Aditya, Krishnamurthy, Kaushik Venkatesh, Salagame, Adarsh, Wang, Chenghao, Liu, Taoran, Gupta, Bibek, Sihite, Eric, Nemovi, Reza, Ramezani, Alireza, Gharib, Morteza
Despite major advancements in control design that are robust to unplanned disturbances, bipedal robots are still susceptible to falling over and struggle to negotiate rough terrains. By utilizing thrusters in our bipedal robot, we can perform additio
Externí odkaz:
http://arxiv.org/abs/2406.14799
Autor:
Krishnamurthy, Kaushik Venkatesh, Wang, Chenghao, Pitroda, Shreyansh, Salagame, Adarsh, Sihite, Eric, Nemovi, Reza, Ramezani, Alireza, Gharib, Morteza
In this study, our aim is to evaluate the effectiveness of thruster-assisted steep slope walking for the Husky Carbon, a quadrupedal robot equipped with custom-designed actuators and plural electric ducted fans, through simulation prior to conducting
Externí odkaz:
http://arxiv.org/abs/2406.13118