Siva Kailas
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View article: JaxRobotarium: Training and Deploying Multi-Robot Policies in 10 Minutes
JaxRobotarium: Training and Deploying Multi-Robot Policies in 10 Minutes Open
Multi-agent reinforcement learning (MARL) has emerged as a promising solution for learning complex and scalable coordination behaviors in multi-robot systems. However, established MARL platforms (e.g., SMAC and MPE) lack robotics relevance…
View article: Distributed Multi-robot Source Seeking in Unknown Environments with Unknown Number of Sources
Distributed Multi-robot Source Seeking in Unknown Environments with Unknown Number of Sources Open
We introduce a novel distributed source seeking framework, DIAS, designed for multi-robot systems in scenarios where the number of sources is unknown and potentially exceeds the number of robots. Traditional robotic source seeking methods …
View article: DyPNIPP: Predicting Environment Dynamics for RL-based Robust Informative Path Planning
DyPNIPP: Predicting Environment Dynamics for RL-based Robust Informative Path Planning Open
Informative path planning (IPP) is an important planning paradigm for various real-world robotic applications such as environment monitoring. IPP involves planning a path that can learn an accurate belief of the quantity of interest, while…
View article: OffRIPP: Offline RL-based Informative Path Planning
OffRIPP: Offline RL-based Informative Path Planning Open
Informative path planning (IPP) is a crucial task in robotics, where agents must design paths to gather valuable information about a target environment while adhering to resource constraints. Reinforcement learning (RL) has been shown to b…
View article: A Comparison of Imitation Learning Algorithms for Bimanual Manipulation
A Comparison of Imitation Learning Algorithms for Bimanual Manipulation Open
Amidst the wide popularity of imitation learning algorithms in robotics, their properties regarding hyperparameter sensitivity, ease of training, data efficiency, and performance have not been well-studied in high-precision industry-inspir…
View article: WIT-UAS: A Wildland-fire Infrared Thermal Dataset to Detect Crew Assets From Aerial Views
WIT-UAS: A Wildland-fire Infrared Thermal Dataset to Detect Crew Assets From Aerial Views Open
We present the Wildland-fire Infrared Thermal (WIT-UAS) dataset for long-wave infrared sensing of crew and vehicle assets amidst prescribed wildland fire environments. While such a dataset is crucial for safety monitoring in wildland fire …
View article: Towards True Lossless Sparse Communication in Multi-Agent Systems
Towards True Lossless Sparse Communication in Multi-Agent Systems Open
Communication enables agents to cooperate to achieve their goals. Learning when to communicate, i.e., sparse (in time) communication, and whom to message is particularly important when bandwidth is limited. Recent work in learning sparse i…
View article: Multiagent Rollout and Policy Iteration for POMDP with Application to Multi-Robot Repair Problems
Multiagent Rollout and Policy Iteration for POMDP with Application to Multi-Robot Repair Problems Open
In this paper we consider infinite horizon discounted dynamic programming problems with finite state and control spaces, partial state observations, and a multiagent structure. We discuss and compare algorithms that simultaneously or seque…