MResT: Multi-Resolution Sensing for Real-Time Control with Vision-Language Models

no code implementations • 25 Jan 2024 • Saumya Saxena, Mohit Sharma, Oliver Kroemer

Leveraging sensing modalities across diverse spatial and temporal resolutions can improve performance of robotic manipulation tasks.

Learning Reactive and Predictive Differentiable Controllers for Switching Linear Dynamical Models

no code implementations • 26 Mar 2021 • Saumya Saxena, Alex LaGrassa, Oliver Kroemer

We learn a switching linear dynamical model with contacts encoded in switching conditions as a close approximation of our system dynamics.