Sashank Tirumala — accepted AI-conference papers

2022

Learning to Singulate Layers of Cloth using Tactile Feedback

Sashank Tirumala, Thomas Weng, Daniel Seita, Oliver Kroemer, Zeynep Temel, David Held

IROS 2022poster

Robotic manipulation of cloth has applications ranging from fabrics manufacturing to handling blankets and laundry. Cloth manipulation is challenging for robots largely due to their high degrees of freedom, complex dynamics, and severe self-occlusions when in folded or crumpled configurations. Prior…

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2020

Robust Quadrupedal Locomotion on Sloped Terrains: A Linear Policy Approach

Kartik Paigwar, Lokesh Krishna, sashank tirumala, naman khetan, aditya varma, ashish joglekar +4

CoRL 2020

In this paper, with a view toward fast deployment of locomotion gaits in low-cost hardware, we use a linear policy for realizing end-foot trajectories in the quadruped robot, Stoch 2. In particular, the parameters of the end-foot trajectories are shaped via a linear feedback policy that takes the to

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