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Learning Rotation-in-Place and Orbiting Policies for a Quadruped Robot
(Georgia Institute of Technology, 2022-05)
Reinforcement learning (RL) algorithms have successfully learned control policies for quadruped locomotion such as walking, rotation, and basic navigation. We utilize Proximal Policy Optimization and iGibson to train a ...
Simulating Assistive Robotics Tasks
(Georgia Institute of Technology, 2020-05)
In this thesis, I summarize two published research papers [1][2] to which I contributed as an undergraduate researcher. My contributions to this research primarily consisted of implementing realistic human joint limitations ...
Investigating Sim-to-Real Transfer and Multi-Agent Learning in Assistive Gym
(Georgia Institute of Technology, 2020-12)
As the world's population grows older on average and the number of available caregivers decreases, assistive robotics pose an opportunity for older adults or people with disabilities to continue receiving the care that ...
Context Aware Policy Selection
(Georgia Institute of Technology, 2020-05)
In of optimal control and reinforcement learning, the difference in the performance of a state-of-the-art policy and a mediocre one is minuscule in comparison to their difference in amortized computational cost. Further, ...
Interleaving Allocation, Planning, and Scheduling for Heterogeneous Multi-Robot Coordination through Shared Constraints
(Georgia Institute of Technology, 2022-12-07)
In a wide variety of domains, such as warehouse automation, agriculture, defense, and assembly, effective coordination of heterogeneous multi-robot teams is needed to solve complex problems. Effective coordination is ...
Feynman-Kac Numerical Techniques for Stochastic Optimal Control
(Georgia Institute of Technology, 2021-08-25)
Three significant advancements are proposed for improving numerical methods in the solution of forward-backward stochastic differential equations (FBSDEs) appearing in the Feynman-Kac representation of the value function ...
Search-based collision-free motion planning for robotic sculpting
(Georgia Institute of Technology, 2020-07-28)
In this work, I explore the task of robot sculpting. I propose a search-based planning algorithm to solve the problem of sculpting by material removal with a multi-axis manipulator. I generate collision free trajectories ...
Efficient and principled robot learning: Theory and algorithms
(Georgia Institute of Technology, 2020-01-07)
Roboticists have long envisioned fully-automated robots that can operate reliably in unstructured environments. This is an exciting but extremely difficult problem; in order to succeed, robots must reason about sequential ...
CATEGORY LEVEL POSE ESTIMATION VIA INSTANCE CANONICALIZATION
(Georgia Institute of Technology, 2022-01-14)
This thesis describes a study of pose estimation. Pose estimation is the determination of
an object’s position and orientation in some coordinate frame. Pose estimation has applica-
tion in robotics, augmented/virtual ...
Virtual Reality as a Stepping Stone to Real-World Robotic Caregiving
(Georgia Institute of Technology, 2021-05-04)
Versatile robotic caregivers could benefit millions of people worldwide, including older adults and people with disabilities. Recent work has explored how robotic caregivers can learn to interact with people through physics ...