Visual Next-Frame Prediction using Multisensory Perception for Embodied Agents

Robot kinematics, dynamics, control and learning

Natural Locomotion, Jumping and Recovery of Quadruped Robot A1 with AMP

A Framework for Sensorimotor Cross-Perception and Cross-Behavior Knowledge Transfer for Object Categorization

Code release and project site for "CCIL: Continuity-based Data Augmentation for Corrective Imitation Learning"

Papers, codes, datasets, applications, tutorials.

A product of my Summer 2023 Internship at NYU Courant

A deep reinforcement learning agent learns to navigate and collect rewards in a large world using lidar and camera.

Topics include function approximation, learning dynamics, using learned dynamics in control and planning, handling uncertainty in learned models, learning from demonstration, and model-based and model-free reinforcement learning.

[IROS'23] Value-Informed Skill Chaining for Policy Learning of Long-Horizon Tasks with Surgical Robot

Labs for the Robot Learning class, focusing on robotics and Reinforcement Learning. Each lab focuses on a different topic, had mandatory tasks and eventually extensions. All the results have been discussed in the reports.

Implementation of Soft QLearning Algorithm

A Framework for Multisensory Foresight for Embodied Agents

Experiment code for "Koopman Constrained Policy Optimization: a Koopman operator theoretic method for differentiable optimal control in robotics" as presented at ICML 2023

In developmental robotics, robot learning algorithms generate their own sequences of learning experiences, also known as a curriculum, to cumulatively acquire new skills through self-guided exploration and social interaction with humans. These robots use guidance mechanisms such as active learning, maturation, motor synergies and imitation. Asso…

Webots Image Dataset Collection For Computer Vision And Deep Learning

This repository hosts the physical robot code for ToolFlowNet. Published at CoRL '22.

[ICRA2024] A differentiable robot learning framework for task specifications and controller synthesis.

Lunar Lander game from OpenAI Gym using behavioral cloning, DAgger methods, and POMDP(Partially-Observable Markov Decision Processes)