I am a PhD student in
Robotics Institute,
CMU, where I'm advised by Dr. Oliver Kroemer. |
Selected Publications
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MResT: Multi-Resolution Sensing for Real-Time Control with Vision-Language Models
Saumya Saxena*, Mohit Sharma*, Oliver Kroemer
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RoboAgent: Towards Sample Efficient Robot Manipulation with Semantic Augmentations and Action Chunking
Homanga Bharadhwaj*, Jay Vakil*, Mohit Sharma*, Abhinav Gupta, Shubham Tulsiani, Vikash Kumar
- arxiv | Project Page | Dataset
- Code
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RoboAdapters: Lossless Adaptation of Pretrained Vision Models for Robotic Manipulation
Mohit Sharma, Claudio Fantacci, Yuxiang Zhou, Skanda Koppula, Nicolas Heess, Jon Scholz, Yusuf Aytar
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Search-Based Task Planning with Learned Skill Effect Models for Lifelong Robotic Manipulation
Jacky Liang*, Mohit Sharma*, Alex LaGrassa, Shivam Vats, Saumya Saxena, Oliver Kroemer
- ICRA’22 | arxiv | Project Page
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Inverse Reinforcement Learning with Explicit Policy Estimates
Navyata Sanghvi*, Shinnosuke Usami*, Mohit Sharma*, Joachim Groeger, Kris Kitani
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Learning to Compose Hierarchical Object-Centric Controllers for Robotic Manipulation
Mohit Sharma*, Jacky Liang*, Alan Zhao, Alex LaGrassa, Oliver Kroemer
(Long Talk)
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Relational Learning for Skill Preconditions
Mohit Sharma, Oliver Kroemer
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Directed-Info GAIL: Learning Hierarchical Policies from Unsegmented Demonstrations using Directed Information
Arjun Sharma*, Mohit Sharma*, Nick Rhinehart, Kris M. Kitani
Preprints/Reports
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A Modular Robotic Arm Control Stack for Research: Franka-Interface and FrankaPy
Kevin Zhang*, Mohit Sharma*, Jacky Liang*, Oliver Kroemer
(Used by multiple labs at CMU and outside)
Other stuff
- Outside of research I enjoy reading and running.