Himanshu Lodha

Learning Terrain Aware Bipedal Locomotion via Reduced Dimensional Perceptual Representations

Guillermo Castillo*, Himanshu Lodha*, Ayonga Hereid

IEEE Transactions on Control Systems Technology

Paper Video

Reduced Order Representations for Reinforcement Learning-based Terrain-Aware Humanoid Locomotion

Himanshu Lodha

Masters Thesis

Paper

Force control for Robust Quadruped Locomotion: A Linear Policy Approach

Aditya Shirwatkar*, Vamshi Kumar Kurva*, Devaraju Vinoda, Aman Singh, Aditya Sagi, Himanshu Lodha, Bhavya Giri Goswami, Shivam Sood, Ketan Nehete, Shishir Kolathaya

ICRA 2023

Paper Webpage Video

Dynamic Mirror Descent based Model Predictive Control for Accelerating Robot Reinforcement Learning.

Utkarsh A. Mishra*, Soumya R. Samineni*, Prakhar Goel, Chandravaran Kunjeti, Himanshu Lodha, Aman Singh, Aditya Sagi, Shalabh Bhatnagar, and Shishir Kolathaya

ICRA 2022

Poster: 2nd Offline RL workshop at NeurIPS 2021

Poster: Deep RL Workshop at NeurIPS 2021

Paper Webpage Video Code

Publications