Sumit Patidar — accepted AI-conference papers

2024

Hierarchical Diffusion Policy for Kinematics-Aware Multi-Task Robotic Manipulation

Xiao Ma, Sumit Patidar, Iain Haughton, Stephen James

CVPR 2024poster

This paper introduces Hierarchical Diffusion Policy (HDP) a hierarchical agent for multi-task robotic manipulation. HDP factorises a manipulation policy into a hierarchical structure: a high-level task-planning agent which predicts a distant next-best end-effector pose (NBP) and a low-level goal-con…

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2023

In-Hand Cube Reconfiguration: Simplified

Sumit Patidar, Adrian Sieler, Oliver Brock

IROS 2023poster

We present a simple approach to in-hand cube reconfiguration. By simplifying planning, control, and perception as much as possible, while maintaining robust and general performance, we gain insights into the inherent complexity of in-hand cube reconfiguration. We also demonstrate the effectiveness o…

Cited by 3 Source ↗Scholar ↗