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Distilling Motion Planner Augmented Policies into Visual Control Policies for Robot Manipulation


Nov 11, 2021
I-Chun Arthur Liu, Shagun Uppal, Gaurav S. Sukhatme, Joseph J. Lim, Peter Englert, Youngwoon Lee

* Published at the Conference on Robot Learning (CoRL) 2021 

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LUMINOUS: Indoor Scene Generation for Embodied AI Challenges


Nov 10, 2021
Yizhou Zhao, Kaixiang Lin, Zhiwei Jia, Qiaozi Gao, Govind Thattai, Jesse Thomason, Gaurav S. Sukhatme

* 2021 paper, Amazon 

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A Simple Approach to Continual Learning by Transferring Skill Parameters


Oct 19, 2021
K. R. Zentner, Ryan Julian, Ujjwal Puri, Yulun Zhang, Gaurav S. Sukhatme

* Submitted to ICRA 2022 

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Beyond Robustness: A Taxonomy of Approaches towards Resilient Multi-Robot Systems


Sep 25, 2021
Amanda Prorok, Matthew Malencia, Luca Carlone, Gaurav S. Sukhatme, Brian M. Sadler, Vijay Kumar


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Adaptive Sampling using POMDPs with Domain-Specific Considerations


Sep 23, 2021
Gautam Salhotra, Christopher E. Denniston, David A. Caron, Gaurav S. Sukhatme

* Accepted at ICRA 2021 6 pages + 1 page Appendix. The first two authors had an equal contribution 

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Probabilistic Inference of Simulation Parameters via Parallel Differentiable Simulation


Sep 18, 2021
Eric Heiden, Christopher E. Denniston, David Millard, Fabio Ramos, Gaurav S. Sukhatme

* Extended version. Submitted to ICRA 2022 

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Adaptive and Risk-Aware Target Tracking with Heterogeneous Robot Teams


May 09, 2021
Siddharth Mayya, Ragesh K. Ramachandran, Lifeng Zhou, Gaurav S. Sukhatme, Vijay Kumar

* Submitted to the International Conference on Intelligent Robots and Systems 2021. 9 pages 

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Adaptive Sampling: Algorithmic vs. Human Waypoint Selection


Apr 24, 2021
Stephanie Kemna, Sara Kangaslahti, Oliver Kroemer, Gaurav S. Sukhatme

* 12 pages, 7 figures, not yet published 

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NeuralSim: Augmenting Differentiable Simulators with Neural Networks


Nov 09, 2020
Eric Heiden, David Millard, Erwin Coumans, Yizhou Sheng, Gaurav S. Sukhatme

* Submitted to ICRA 2021 

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Motion Planner Augmented Reinforcement Learning for Robot Manipulation in Obstructed Environments


Oct 22, 2020
Jun Yamada, Youngwoon Lee, Gautam Salhotra, Karl Pertsch, Max Pflueger, Gaurav S. Sukhatme, Joseph J. Lim, Peter Englert

* Published at the Conference on Robot Learning (CoRL) 2020 

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Learning Equality Constraints for Motion Planning on Manifolds


Sep 24, 2020
Giovanni Sutanto, Isabel M. Rayas Fernández, Peter Englert, Ragesh K. Ramachandran, Gaurav S. Sukhatme


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Resilient Monitoring in Heterogeneous Multi-robot Systems through Network Reconfiguration


Aug 04, 2020
Ragesh K. Ramachandran, Pietro Pierpaoli, Magnus Egerstedt, Gaurav S. Sukhatme

* 12 pages, 5 figures 

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Augmenting Differentiable Simulators with Neural Networks to Close the Sim2Real Gap


Jul 12, 2020
Eric Heiden, David Millard, Erwin Coumans, Gaurav S. Sukhatme


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Learning Manifolds for Sequential Motion Planning


Jul 04, 2020
Isabel M. Rayas Fernández, Giovanni Sutanto, Peter Englert, Ragesh K. Ramachandran, Gaurav S. Sukhatme

* Accepted for presentation at the Robotics: Science and Systems (RSS) 2020 Workshop for Learning (in) Task and Motion Planning. Paper length is 4 pages (i.e. 3 pages of technical content and 1 page of the references) 

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Supervised Learning and Reinforcement Learning of Feedback Models for Reactive Behaviors: Tactile Feedback Testbed


Jun 29, 2020
Giovanni Sutanto, Katharina Rombach, Yevgen Chebotar, Zhe Su, Stefan Schaal, Gaurav S. Sukhatme, Franziska Meier

* Submitted to the International Journal of Robotics Research. Paper length is 21 pages (including references) with 12 figures. A video overview of the reinforcement learning experiment on the real robot can be seen at https://www.youtube.com/watch?v=WDq1rcupVM0. arXiv admin note: text overlap with arXiv:1710.08555 

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Confidence-rich grid mapping


Jun 29, 2020
Ali-akbar Agha-mohammadi, Eric Heiden, Karol Hausman, Gaurav S. Sukhatme

* The International Journal of Robotics Research, 38(12-13), 1352-1374 (2019) 
* Published at International Journal of Robotics Research (IJRR) 2019 (https://journals.sagepub.com/doi/10.1177/0278364919839762

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Sampling-Based Motion Planning on Manifold Sequences


Jun 03, 2020
Peter Englert, Isabel M. Rayas Fernández, Ragesh K. Ramachandran, Gaurav S. Sukhatme


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Plan-Space State Embeddings for Improved Reinforcement Learning


Apr 30, 2020
Max Pflueger, Gaurav S. Sukhatme

* Submitted to IROS 2020 

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Efficient Adaptation for End-to-End Vision-Based Robotic Manipulation


Apr 21, 2020
Ryan Julian, Benjamin Swanson, Gaurav S. Sukhatme, Sergey Levine, Chelsea Finn, Karol Hausman

* 8.5 pages, 9 figures. See video overview and experiments at https://youtu.be/pPDVewcSpdc and project website at https://ryanjulian.me/continual-fine-tuning 

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Resilience in multi-robot multi-target tracking with unknown number of targets through reconfiguration


Apr 15, 2020
Ragesh K. Ramachandran, Nicole Fronda, Gaurav S. Sukhatme

* 21 pages, 4 figures 

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On Localizing a Camera from a Single Image


Mar 24, 2020
Pradipta Ghosh, Xiaochen Liu, Hang Qiu, Marcos A. M. Vieira, Gaurav S. Sukhatme, Ramesh Govindan


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Experimental Comparison of Global Motion Planning Algorithms for Wheeled Mobile Robots


Mar 07, 2020
Eric Heiden, Luigi Palmieri, Kai O. Arras, Gaurav S. Sukhatme, Sven Koenig

* Extended version of manuscript under review 

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Automatic Differentiation and Continuous Sensitivity Analysis of Rigid Body Dynamics


Jan 22, 2020
David Millard, Eric Heiden, Shubham Agrawal, Gaurav S. Sukhatme

* arXiv admin note: substantial text overlap with arXiv:1905.10706 

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Physics-based Simulation of Continuous-Wave LIDAR for Localization, Calibration and Tracking


Dec 03, 2019
Eric Heiden, Ziang Liu, Ragesh K. Ramachandran, Gaurav S. Sukhatme

* Submitted to ICRA 2020 

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Resilient Coverage: Exploring the Local-to-Global Trade-off


Oct 03, 2019
Ragesh K. Ramachandran, Lifeng Zhou, Gaurav S. Sukhatme

* 8 pages, 5 figures, submitted to ACC 2020 

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Resilience in multi-robot target tracking through reconfiguration


Oct 03, 2019
Ragesh K. Ramachandran, Nicole Fronda, Gaurav S. Sukhatme

* 7 pages, 6 figures, submitted to ICRA 2020 

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Interactive Differentiable Simulation


May 26, 2019
Eric Heiden, David Millard, Hejia Zhang, Gaurav S. Sukhatme


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Sim-to-(Multi)-Real: Transfer of Low-Level Robust Control Policies to Multiple Quadrotors


Apr 16, 2019
Artem Molchanov, Tao Chen, Wolfgang Hönig, James A. Preiss, Nora Ayanian, Gaurav S. Sukhatme


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