Search Results for author: Abhik Singla

Found 4 papers, 1 papers with code

Hindsight Experience Replay with Kronecker Product Approximate Curvature

no code implementations9 Oct 2020 Dhuruva Priyan G M, Abhik Singla, Shalabh Bhatnagar

Natural gradients solves these challenges by converging the model parameters better.

Learning Active Spine Behaviors for Dynamic and Efficient Locomotion in Quadruped Robots

no code implementations15 May 2019 Shounak Bhattacharya, Abhik Singla, Abhimanyu, Dhaivat Dholakiya, Shalabh Bhatnagar, Bharadwaj Amrutur, Ashitava Ghosal, Shishir Kolathaya

In this work, we provide a simulation framework to perform systematic studies on the effects of spinal joint compliance and actuation on bounding performance of a 16-DOF quadruped spined robot Stoch 2.

Memory-based Deep Reinforcement Learning for Obstacle Avoidance in UAV with Limited Environment Knowledge

2 code implementations8 Nov 2018 Abhik Singla, Sindhu Padakandla, Shalabh Bhatnagar

When compared to obstacle avoidance in ground vehicular robots, UAV navigation brings in additional challenges because the UAV motion is no more constrained to a well-defined indoor ground or street environment.

Decision Making Reinforcement Learning (RL)

Realizing Learned Quadruped Locomotion Behaviors through Kinematic Motion Primitives

no code implementations9 Oct 2018 Abhik Singla, Shounak Bhattacharya, Dhaivat Dholakiya, Shalabh Bhatnagar, Ashitava Ghosal, Bharadwaj Amrutur, Shishir Kolathaya

Leveraging on this underlying structure, we then realize walking in Stoch by a straightforward reconstruction of joint trajectories from kMPs.

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