Raviteja Upadrashta — accepted AI-conference papers

2021

Spatial Reasoning from Natural Language Instructions for Robot Manipulation

Sagar Gubbi Venkatesh, Anirban Biswas, Raviteja Upadrashta, Vikram Srinivasan, Partha Talukdar, Bharadwaj Amrutur

ICRA 2021poster

Robots that can manipulate objects in unstructured environments and collaborate with humans can benefit immensely by understanding natural language. We propose a pipelined architecture of two stages to perform spatial reasoning on the text input. All the objects in the scene are first localized, and…

Cited by 40 Source ↗Scholar ↗

2021

Translating Natural Language Instructions to Computer Programs for Robot Manipulation

Sagar Gubbi Venkatesh, Raviteja Upadrashta, Bharadwaj Amrutur

IROS 2021poster

It is highly desirable for robots that work alongside humans to be able to understand instructions in natural language. Existing language conditioned imitation learning models directly predict the actuator commands from the image observation and the instruction text. Rather than directly predicting…

Cited by 15 Source ↗Scholar ↗

2020

Multi-Instance Aware Localization for End-to-End Imitation Learning

Sagar Gubbi Venkatesh, Raviteja Upadrashta, Shishir Kolathaya, Bharadwaj Amrutur

IROS 2020poster

Existing architectures for imitation learning using image-to-action policy networks perform poorly when presented with an input image containing multiple instances of the object of interest, especially when the number of expert demonstrations available for training are limited. We show that end-to-e…

Cited by 1 Source ↗Scholar ↗