Kapil Katyal

REDD-RQB

Publications

Revolutionizing Prosthetics is a government-sponsored program focused on maturing the many foundational technologies that comprise neural prosthetic systems. Targeting the needs of amputees and movement-impaired individuals, the program focused on technological advancements in areas such as advanced neural recording devices, neural decoding and enc   ...more

Mobile robots capable of navigating seamlessly and safely in pedestrian rich environments promise to bring robotic assistance closer to our daily lives. In this paper we draw on insights of how humans move in crowded spaces to explore how to recognize pedestrian navigation intent, how to predict pedestrian motion and how a robot may adapt its navig   ...more

Assistive robotics holds the promise of bettering the lives of countless people throughout the world. As robots become more complex, the degrees-of-freedom for controlling robotic systems is rapidly outpacing the degrees-of-control that can be supplied by humans via conventional interfaces. In this paper, we describe a no   ...more

Efficient exploration through unknown environments remains a challenging problem for robotic systems. In these situations, the robot's ability to reason about its future motion is often severely limited by sensor field of view (FOV). By contrast, biological systems routinely make decisions by taking into consideration what might exist beyond th   ...more

Prospection is key to solving challenging problems in new environments, but it has not been deeply explored as applied to task planning for perception-driven robotics. We propose visual robot task planning, where we take in an input image and must generate a sequence of high-level actions and associated observations that achieve some task. In this   ...more

This work studies joint camera and robotic manipulator control for reaching tasks in complex environments with obstacles and occluders. We obviate the conventional challenges involved in complex perception, planning, and control modules and careful calibration for sensing and actuation and seek a solution leveraging deep reinforcement learning (DRL   ...more

Purpose: Visual scanning by sighted individuals is done using eye and head movements. In contrast, scanning using the Argus II is solely done by head movement, since eye movements can introduce localization errors. Here, we tested if a scanning mode utilizing eye movements increases visual stability and reduces head movements in Argus II users. Me   ...more

The Argus II retinal prosthesis has a dissociation between the line of sight of the camera and that of the eye. The image-capturing camera is mounted on the glasses and therefore, eye movements do not influence the visual information sent to the implanted electrodes. We have demonstrated a closed-loop setup that shifts the visual information based   ...more

We describe the recent development of assistive computer vision algorithms for use with the Argus II retinal prosthesis system. While users of the prosthetic system can learn and adapt to the limited stimulation resolution, there exists great potential for computer vision algorithms to augment the experience and significantly increase the utility   ...more

This work leverages Deep Reinforcement Learning (DRL) to make robotic control immune to changes in the robot manipulator or the environment and to perform reaching, collision avoidance and grasping without explicit, prior and fine knowledge of the human arm structure and kinematics, without careful hand-eye calibration, solely based on visual/reti   ...more

Deep learning (DL) has led to near or better than human performance in image classification or object/speech recognition. DL is now providing new tools to address autonomous robotic manipulation and navigation challenges. One of the fundamental capabilities necessary for robotic manipulation is the ability to reorient objects within the hand. In th   ...more

This paper presents a nested marsupial robotic system and its execution of a notional disaster response task. Human supervised autonomy is facilitated by tightly-coupled, high-level user feedback enabling command and control of a bimanual mobile manipulator carrying a quadrotor unmanned aerial vehicle that carries a miniature ground robot. Each ro   ...more

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