Himanshu Lodha — accepted AI-conference papers

2023

Force control for Robust Quadruped Locomotion: A Linear Policy Approach

Aditya Shirwatkar, Vamshi Kumar Kurva, Devaraju Vinoda, Aman Singh, Aditya Sagi, Himanshu Lodha +4

ICRA 2023poster

This work presents a simple linear policy for direct force control for quadrupedal robot locomotion. The motivation is that force control is essential for highly dynamic and agile motions. We learn a linear policy to generate end-foot trajectory parameters and a centroidal wrench, which is then dist…

Cited by 6 Source ↗Scholar ↗

2022

Dynamic Mirror Descent based Model Predictive Control for Accelerating Robot Learning

Utkarsh A. Mishra, Soumya R. Samineni, Prakhar Goel, Chandravaran Kunjeti, Himanshu Lodha, Aman Singh +3

ICRA 2022poster

Recent works in Reinforcement Learning (RL) combine model-free (Mf)-RL algorithms with model-based (Mb)-RL approaches to get the best from both: asymptotic performance of Mf-RL and high sample-efficiency of Mb-RL. Inspired by these works, we propose a hierarchical framework that integrates online le…

Cited by 3 Source ↗Scholar ↗