Projects

Learning Non-Stationary Sampling Distributions for Robot Motion Planning
Ratnesh Madaan*, Sam Zeng*, Brian Okorn, Rogerio Bonatti
*Equal Contribution
16-831 Statistical Techniques in Robotics & 16-782 Planning and Decision-making in Robotics, Fall 2017.
Report, Videos, Slides - 16-782, Slides - 16-831,
Code - Modified OMPL (C++), Code - Training Pipeline (Python),
Details

Autonomous Quadrotor Flight in Simulation using Reinforcement Learning
Ratnesh Madaan*, Dhruv Saxena*, Rogerio Bonatti, Shohin Mukherjee
*Equal Contribution
10-703 Deep Reinforcement Learning and Control, Spring 2017
Report, Poster, Video, Code

Exploring Applications of Bingham Distribution for Characterizing Uncertainty over SO(3)
Ratnesh Madaan, Sudharshan Suresh, Ankita Kalra
16-833: Robot Localization and Mapping, Spring 2018.
Report, Slides

Exploring Inverse Reinforcement Learning for Semantic Obstacle Costs
Arjun Sharma, Ratnesh Madaan, Rogerio Bonatti
16-811 Math Fundamentals for Robotics, Fall 2016.
Report, Slides, Code