Mohitvishnu S. Gadde — accepted AI-conference papers

2024

Learning Decentralized Multi-Biped Control for Payload Transport

Bikram Pandit, Ashutosh Gupta, Mohitvishnu S. Gadde, Addison Johnson, Aayam Kumar Shrestha, Helei Duan +2

CoRL 2024poster

Payload transport over flat terrain via multi-wheel robot carriers is well-understood, highly effective, and configurable. In this paper, our goal is to provide similar effectiveness and configurability for transport over rough terrain that is more suitable for legs rather than wheels. For this purp…

Cited by 4 Source ↗Scholar ↗

2024

Learning Vision-Based Bipedal Locomotion for Challenging Terrain

Helei Duan, Bikram Pandit, Mohitvishnu S. Gadde, Bart Van Marum, Jeremy Dao, Chanho Kim +1

ICRA 2024poster

Reinforcement learning (RL) for bipedal locomotion has recently demonstrated robust gaits over moderate terrains using only proprioceptive sensing. However, such blind controllers will fail in environments where robots must anticipate and adapt to local terrain, which requires visual perception. In…

Cited by 41 Source ↗Scholar ↗

2022

Learning Dynamic Bipedal Walking Across Stepping Stones

Helei Duan, Ashish Malik, Mohitvishnu S. Gadde, Jeremy Dao, Alan Fern, Jonathan Hurst

IROS 2022poster

In this work, we propose a learning approach for 3D dynamic bipedal walking when footsteps are constrained to stepping stones. While recent work has shown progress on this problem, real-world demonstrations have been limited to relatively simple open-loop, perception-free scenarios. Our main contrib…

Cited by 15 Source ↗Scholar ↗