Varun Tolani — accepted AI-conference papers

2021

Visual Navigation Among Humans With Optimal Control as a Supervisor

Varun Tolani, Somil Bansal, Aleksandra Faust, Claire J. Tomlin

RA-L 2021

Real world visual navigation requires robots to operate in unfamiliar, human-occupied dynamic environments. Navigation around humans is especially difficult because it requires anticipating their future motion, which can be quite challenging. We propose an approach that combines learning-based perce

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2019

Combining Optimal Control and Learning for Visual Navigation in Novel Environments

Somil Bansal, Varun Tolani, Saurabh Gupta, Jitendra Malik, Claire Tomlin

CoRL 2019

Model-based control is a popular paradigm for robot navigation because it can leverage a known dynamics model to efficiently plan robust robot trajectories. However, it is challenging to use model-based methods in settings where the environment is a priori unknown and can only be observed partially

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