Research

Research Interests

    • Machine Learning

    • Robotics

    • Computer Vision

Ph. D. Thesis

Title: Kinematic control of redundant manipulators using neural networks. [Thesis][Slides]

M.Tech Thesis

    • Title: System Identification and Control using Neural Networks [Thesis|Slides]

Current Research

Seminars / Lectures

Publications

Journals

  1. "A Novel Method for Finding Grasping Handles in a Clutter using RGBD Gaussian Mixture Models" by Olyvia Kundu, Samrat Dutta and Swagat Kumar. Robotica, 2021. [PDF]

  2. "A Novel Geometry-based Algorithm for Robust Grasping in Extreme Clutter Environment" by Olyvia Kundu and Swagat Kumar. Arxiv CS.RO, July 2018 [Link].

  3. "Event Triggered Finite Time Integral Sliding Mode Controller for Consensus-based formation of multi-robot systems with disturbances” by Ranjith Nair, Laxmidhar Behera and Swagat Kumar. IEEE Transaction on Control System Technology, Vol. 99, pp. 1-9, October, 2017 [PDF].

  4. "A Novel Fusion Framework for Robust Human Tracking by a Service Robot". Meenakshi Gupta, Swagat Kumar, Laxmidhar Behera and K. S. Venkatesh. Robotics and Autonomous Systems. Vol. 94, pp. 134-147, August 2017. [PDF]

  5. "A Novel Vision-based Tracking Algorithm for a Human Following Mobile Robot". Meenakshi Gupta, Swagat Kumar, Laxmidhar Behera and K. S. Venkatesh. IEEE Transactions on System, Man, Cybernetics: Systems (Part A), Vol. 99, pp 1-13, 2016. [PDF]

  6. "High Performance Loop Closure Detection using Bag of Word Pairs". Nishant Kejriwal, Swagat Kumar and Tomohiro Shibata. Robotics and Autonomous Systems, Vol. 77, pp. 55-65, March, 2016. [PDF]

  7. "Kinematic control of a redundant manipulator using inverse-forward adaptive scheme with a KSOM based hint generator". Swagat Kumar, Laxmidhar Behera and Martin McGinnity. Robotics and Autonomous Systems, Vol. 58, No. 5, May 2010. [PDF]

  8. "Visual motor control of a 7 DOF robot manipulator using redundancy preserving learning networks". Swagat Kumar, Prem Kumar P, Ashish Dutta and Laxmidhar Behera, Robotica, Cambridge University Press, Vol. 28, No. 6, September 2009 [PDF]

  9. "Visual Motor Control of a 7 DOF Robot Manipulator using Function Decomposition and Sub-clustering in configuration space". Swagat Kumar, Naman Patel and Laxmidhar Behera, Neural Processing Letters, Vol. 28, No. 1, August 2008 [PDF]

  10. "On adaptive learning rate that guarantees convergence in feed-forward networks." Laxmidhar Behera, Swagat Kumar and Awhan Patnaik. IEEE Transactions on Neural Network, Vol. 17. No. 5, September 2006. [PDF]

International Conferences

  1. "Attentive One-shot Meta-Imitation Learning from Visual Demonstration" by Vishal Bhutani, Madhu Vankadari, Aditya Asati, Anima Majumder, Samrat Dutta and Swagat Kumar. IEEE ICRA 2022. [PDF]

  2. "Benchmarking of Deep Reinforcement Learning algorithms for vision-based robotics" by Swagat Kumar, Hayden Sampson and Ardhendu Behera. January 2022. [Arxiv]

  3. "Controlling an Inverted Pendulum with Policy Gradient Methods - A Tutorial" by Swagat Kumar. May 2021 [PDF] [Arxiv]

  4. "Unsupervised Monocular Depth Estimation for Night-time Images using Adversarial Domain Feature Adaptation" by Madhu Babu V, Sourav Garg, Anima Majumder, Swagat Kumar and Ardhendu Behera. ECCV 2020, Glasgow, UK, August 23-27, 2020. [PDF]

  5. "Unsupervised Depth and Confidence Prediction from Monocular Image using Bayesian Inference" by Vishal Bhutani, Madhu Babu, Omprakash Jha, Anima Majumder, Swagat Kumar, Samrat Dutta. IEEE IROS 2020, Las Vegas, USA, October 25-29, 2020. [PDF]

  6. "A Light-weight Deep Feature-based Capsule Network" by Chandan Kumar Singh, Vivek Kumar Gangwar, Anima Majumder, Swagat Kumar, Prakash Ambwani and Rajesh Sinha. The International Joint Conference on Neural Networks (IJCNN), July 19-24, 2020, Glasgow, UK. [PDF]

  7. "Balancing a Cart-Pole System with Reinforcement Learning - A Tutorial" by Swagat Kumar. Feb 2020. [PDF]

  8. "Attentive Task-Net: Self-Supervised Task-Attention Network for Imitation Learning using Video Demonstration" by Kartik Ramachandruni, Madhu Babu V, Anima Majumder, Samrat Dutta and Swagat Kumar. IEEE ICRA 2020, Paris, France May 31 - June 04, 2020. [PDF]

  9. "Model & Feature Agnostic Eye-in-Hand Visual Servoing using Deep Reinforcement Learning with Prioritized Experience" by Prerna Singh, Virendra Singh, Samrat Dutta, and Swagat Kumar. IEEE Ro-MAN 2019, New Delhi, October 14-18, 2019. [PDF]

  10. "HiFI: A Hierarchical Framework for Incremental Learning using Deep Feature Representation" by Ankita Raj, Anima Majumder, Swagat Kumar. IEEE Ro-MAN 2019, New Delhi India, October 14-18, 2019 [PDF]

  11. "SMAK-net: Self Supervised Multi-level Spatial Attention Network for Knowledge Representation towards Imitation Learning" by Kartik Ramachandruni*, Madhu Babu Vankadari, Anima Majumder, Samrat Dutta, and Swagat Kumar. IEEE Ro-MAN 2019, New Delhi, India, October 14-18, 2019. [PDF]

  12. "A Novel Geometry-based Algorithm for Robust Grasping in Extreme Clutter Environment" by Olyvia Kundu and Swagat Kumar. IEEE Ro-MAN 2019, New Delhi, India, October 14-18, 2019. [PDF]

  13. "Deep-Pack: A Vision-Based 2D Online Bin Packing Algorithm with Deep Reinforcement Learning" by Olyvia Kundu*, Samrat Dutta, Kumar Swagat. IEEE Ro-MAN 2019, New Delhi, India, October 14-18, 2019. [PDF]

  14. "A Novel Image-based Path planning Algorithm for Eye-in-Hand Visual Servoing of a Redundant Manipulator in a Human Centred Environment" by Deepak Raina, Mithun P, Suril Vijaykumar Shah, and Swagat Kumar. IEEE Ro-MAN 2019, New Delhi, India, October 14-18, 2019. [PDF]

  15. "Unsupervised Learning of Monocular Depth and Ego-Motion using Conditional PatchGANs". Madhu Vankadari, Swagat Kumar and Anima Majumder. International Joint Conference on Artificial Intelligence (IJCAI), Macao, China, August 10-16, 2019. [PDF]

  16. "Deep Capsule Network based Automatic Batch Code Identification Pipeline for a Real-life Industrial Application". Chandan Kumar Singh, Vivek Kumar Gangwar, Harsh Vardhan Singh, Karan Narain, Anima Majumder, and Swagat Kumar. International Joint Conference on Neural Networks (IJCNN), Budapest, Hungary, July 14-19 2019. [PDF]

  17. "A Deep Framework for Automatic Annotation with Application to Retail Warehouses". Kanika Mahajan, Harika Nanduri, Anima Majumder and Swagat Kumar. 29th British Machine Vision Conference (BMVC), 03-06 September, Newcastle, UK, 2018. [PDF]

  18. "UnDEMoN: Unsupervised Deep Network for Depth and Ego-Motion Estimation" by Madhu Vankadari, Kaushik Das, Anima Majumder, and Swagat Kumar. International Conference on Intelligent Robots and Systems (IROS), October 1-5, Madrid, Spain, 2018. [PDF]

  19. "An Actor based Architecture for Multi-robot System with Application to Warehouse" by Aniruddha Singhal, Aarathi Penumatsa, Nakul Bhatt, Prakash Ambwani, Swagat Kumar and Rajesh Sinha. Proceedings of the 1st International Workshop on Internet of People, Assistive Robots and Things (IoPARTS), Pages 13-18, Munich, Germany, June 10, 2018.

  20. "Learning Stable Movement Primitives by Finding a Suitable Fuzzy Lyapunov Function from Kinesthetic Demonstrations" by Samrat Dutta, Swagat Kumar, and Laxmidhar Behera. International Joint Conference on Neural Networks (IJCNN), Rio de Janeiro, Brazil, 8-13 July 2018.

  21. "Deep Network based Automatic Annotation for Warehouse Automation" by Chandan Kumar Singh, Anima Majumder, Swagat Kumar, and Laxmidhar Behera. International Joint Conference on Neural Networks (IJCNN), Rio de Janeiro, Brazil, 8-13 July 2018. [PDF]

  22. “Distributed Reinforcement Learning Based Optimal Controller for Mobile Robot Formation” by Chinmay M Shinde, Kaushik Das, Swagat Kumar, and Laxmidhar Behera. European Control Conference (ECC), Limassol, Cyprus, June 12-15, 2018.

  23. "Kinematic Identification of TAL-BRABO Robot using Vision". Abdullah Aamir Hayat, Riby Abraham Boby, Subir Kumar Saha, Purnendu Tripathi, Gaurav Sardal, and Swagat Kumar. The 9th Asian Conference on Multibody Dynamics, August 19-23, Xi'an, China, 2018. [PDF]

  24. “Improving Condition- and Environment-Invariant Place Recognition with Semantic Place Categorization” by Sourav Garg, Adam Jacobson, Swagat Kumar, and Michael Milford. IEEE International Conference on Intelligent Robot and Systems (IROS), September 24-28, Vancouver, BC, Canada, 2017 [Paper]

  25. "Managing a Fleet of Autonomous Mobile Robots (AMR) using Cloud Robotics Platform" by Aniruddha Singhal, Prasun Pallav, Nishant Kejriwal, Soumyadeep Choudhury, Swagat Kumar, and Rajesh Sinha. The European Conference on Mobile Robotics (ECMR). September 6-8, 2017, Paris, France. [Paper] [Arxiv]

  26. “Designing of Self Tuning PID controller for a quadrotor” by Kaushik Das, Madhu Vankadari and Swagat Kumar. International conference on advanced Robots (ICAR), July 10-12 2017, HongKong, China.

  27. "Motion planning for an automated pick and place robot in a retail warehouse" by Sharath Jotawar, Manish Soni and Swagat Kumar. ACM Proceedings of International Conference on Advances in Robotics (AIR), New Delhi, India, June 28-July 03, 2017. [PDF] [Arxiv]

  28. "Autonomous leader-follower architecture for AR drone in GPS constrained environment" by Kaushik Das, Madhu Vankadari and Swagat Kumar. ACM Proceedings of International Conference on Advances in Robotics (AIR), New Delhi India, 2017. [PDF]

  29. "Methods for improving performance of robotic pick & place system for ARC 2017" by Anima Majumder, Ashish Kumar, Olyvia Kundu, Sharath Jotawar, Venkat Raju, Harsh V Singh, Chandan Kumar Singh, Manish Soni and Swagat Kumar. IEEE ICRA Workshop on "Warehouse Picking Automation", Singapore, May 29, 2017. [PDF][Slides]

  30. "Indoor Localisation and Navigation on Augmented Reality Devices" by Gaurav Gupta, Nishant Kejriwal, Prasun Pallav, Ehtesham Hassan, Swagat Kumar, and Ramya Hebbalaguppe. IEEE International Symposium on Mixed and Augmented Reality. September 19-23, Mexico 2016.

  31. “Fast Frontier Detection for Indoor Environment for Monocular SLAM” by Sarthak Upadhyay, K Madhav Krishna and Swagat Kumar. Tenth Indian conference on computer vision, graphics and image processing (ICVGIP), December 18-22, 2016.

  32. “ A Serial Five-Bar Mechanism Based Robotic Snake Exhibiting Three Kinds of Gait”. V. S. Rajashekhar and Swagat Kumar. IEEE International Conference on Robotics and Biomimetics (ROBIO) 2015, December 6-9, Zhuhai, China. [Paper][Slides]

  33. "A Hierarchical frame-by-frame association method based on Graph Matching for Multi-object Tracking." Sourav Garg, Ehtesham Hassan, Swagat Kumar, and Prithwijit Guha. 11th International Symposium on Visual Computing (ISVC). Las Vegas, Nevada, USA, December 14-16, 2015. [Paper][Slides]

  34. "SURF-based human tracking algorithm for a human following mobile robot". Meenakshi Gupta, Swagat Kumar, Nishant Kejriwal, Laxmidhar Behera, and K. S. Venkatesh. IEEE International Conference on Image Processing Theory, Tools and Application (IPTA), Orleans, France, November 10-13, 2015. [Paper] [Slides]

  35. "An Occlusion Reasoning Scheme for Monocular Pedestrian Tracking in Dynamic Scenes." Sourav Garg, Rajesh Ratnakaram, Swagat Kumar and Prithwijit Guha. IEEE International Conference on Advanced Video and Signal-based Surveillance (AVSS), Karlsruhe, Germany, August 25-28, 2015. [Paper] [Slides]

  36. "Product Recognition and Counting using Vision With Application to Robot-based Retail Stock Assessment". Nishant Kejriwal, Sourav Garg, and Swagat Kumar. IEEE International Conference on Technology for Practical Robot Application (TePRA), Boston, MA, USA. May 11-12, 2015. [Paper] [Slides]

  37. "A Novel SURF-based algorithm for tracking a 'human' in a dynamic environment". Meenakshi Gupta, Swagat Kumar, Sourav Garg, Nishant Kejriwal, and Laxmidhar Behera, IEEE International Conference on Control, Automation, Robotics and Vision (ICARCV), Singapore, December 10-12, 2014. [Paper] [Slides]

  38. “A hybrid direct feature matching based on-line loop-closure detection algorithm for topological mapping”. Swagat Kumar, Nishant Kejriwal, and Tomohiro Shibata. IEEE ICRA Workshop on Active Visual Learning and Hierarchical Visual Representations for general purpose robot vision, 2014, Hong Kong, China. [Slides]

  39. “Remote retail monitoring and stock assessment using mobile robots”. Swagat Kumar, Geetika Sharma et. al. IEEE International Conference on Technology for Practical Robot Application (TePRA), Boston, USA, April 14-15, 2014. [Paper][Slides]

  40. “A tea-serving robot for office environment”. Swagat Kumar, Sourav Garg, and Nishant Kejriwal. Joint 45th International Symposium on Robotics (ISR) and 8th German Conference on Robotics (ROBOTIK), Munich, Germany, June 3-6 2014 (Accepted). [Paper][Slides]

  41. "Design and Implementation of a Smart Wheelchair". by Amit Ranjan Trivedi, Abhash K. Singh, S. Tejaswi Digumarti, Deepak Fulwani, and Swagat Kumar. ACM International Conference on Advances in Robotics (AIR), July 4-6, Pune, India, 2013. [PAPER][POSTER]

  42. "An On-line Visual Human Tracking Algorithm using SURF-Based Dynamic Object Model" by Meenakshi Gupta, Sourav Garg, Swagat Kumar, and Laxmidhar Behera. IEEE International Conference on Image Processing (ICIP), September 15-18, Melbourne, Australia, 2013. [PAPER][POSTER]

  43. “Mean-Shift Based Object Tracking Algorithm using SURF features” by Sourav Garg and Swagat Kumar, 12th WSEAS International Conference on Signal Processing, Robotics and Automation (ISPRA), Feb 20-22, Cambridge, UK, 2013. [PAPER] [SLIDES]

  44. "Understanding the Behaviour of Reactive Robots in a Patrol Task by Analysing their Trajectories", Swagat Kumar, Nguyen Huy Thach, and Einoshin Suzuki. Proc. 2010 IEEE/WIC/ACM International Conference on Intelligent Agent Technology (IAT), pp. 56-63, September 2010, Toronto.

  45. Kinematic Control of a redundant manipulator using inverse-forward adaptive scheme. Swagat Kumar, Laxmidhar Behera, and Martin McGinnity. Irish Signals and Systems Conference, Dublin, Ireland, June 10-11, 2009. [PDF] [POSTER]

  46. Implementation of a neural network based visual motor control algorithm for a 7 DOF redundant manipulator. Swagat Kumar and Laxmidhar Behera, World Congress on computational intelligence (WCCI), Hong Kong, June 1- 6, 2008. [PDF]

  47. Continuous-time single network adaptive critic for regulator design of nonlinear control-affine systems. Swagat Kumar, Radhakant Padhi and Laxmidhar Behera, IFAC World Congress, July 6-11, Seoul, South Korea, 2008. [PDF]

  48. "A Model-free redundancy resolution technique for visual-motor coordination of a 6 DOF manipulator", Swagat Kumar, Amit Shukla, Ashish Dutta, and Laxmidhar Behera. International Symposium on Intelligent Control (ISIC) , Singapore, October 1-3, 2007 [PDF].

  49. "Direct Adaptive Control using Single Network Adaptive Critic". Swagat Kumar, Radhakant Padhi and Laxmidhar Behera. IEEE Conference on System of Systems Engineering (SoSE), San Antonio, April 16-18, 2007. [PDF]

  50. "A novel learning algorithm for feedforward networks using Lyapunov function approach", Laxmidhar Behera, Swagat Kumar, and Awhan Patnaik. Proceedings International Conference on Intelligent Sensors and Information Processing, ICISIP-2004, Chennai, pg:277-282.

  51. "Identification of non-linear dynamical systems using recurrent neural networks", Laxmidhar Behera, Swagat Kumar, and Subhas Das. IEEE TENCON, 2003, Bangalore. [PDF] [Codes]

White Papers

    1. "Robotics-as-a-Service: Transforming the future of Retail" by Swagat Kumar and Chander Shekar Joshi. Forum, TCS-Retail Journal, Issue 5, January 2015, Tata Consultancy Services. [PDF]

    2. "Fulfilment Center Automation: Making Way for Pick and Stow Robots" by Swagat Kumar and Rajesh Sinha. Forum, TCS-Retail Journal, Edition 9, July 2017, Tata Consultancy Services. [PDF]

    3. "Guiding the Helping Hand, Innovation in Robotics for Nimble Tasks", TCS 50 Reimaging Research, TATA Consultancy Services [PDF]

Book and Book Chapters:

  • "Special Issue on Robots and Human Interactive Communication (Part II)" by Tetsunari Inamura, Amit Kumar Pandey, Swagat Kumar, Mary-Anne Williams, John-John Cabibihan & Laxmidhar Behera. Advanced Robotics, Volume 34, Issue 24, December 2020, Taylor & Francis. URL: https://doi.org/10.1080/01691864.2020.1854936.

Patents

    1. "A device for remote monitoring and stock assessment" by Sourav Garg, Nishant Kejriwal and Swagat Kumar. India. App. No. 1346/MUM/2014.

    2. "A device and process for automatic beverage delivery" by Sourav Garg, Nishant Kejriwal and Swagat Kumar. India. App. No. 908/MUM/2014.

    3. "Computer Implemented System and method for recognizing and counting products within images" by Nishant Kejriwal, Sourav Garg and Swagat Kumar. India: 2322/MUM/2015, US 15/184,444, US20160371634A1

    4. "Robotic Snake" by V Rajashekhar and Swagat Kumar. India: 4420/MUM/2015, US 15/061567, US 9796081B2 (Granted).

    5. "Adaptive Gripper Device" by Venkat Raju and Swagat Kumar. India: 201621022136, US 15/419475, US10265865B2 (Granted), JP6480489B2 (Granted)

    6. "Apparatus for handling goods" by Venkat Raju and Swagat Kumar. India:284675, US 29/582,225 (Granted), EPO 003457142-0001 (Granted), Chinese Patent No. 201730188935.1 (Granted)

    7. "Indoor Localization using AR devices" by Gaurav Gupta, Nishant Kejriwal, Ehtesham Hassan, Ramya Hebbalaguppe and Swagat Kumar. India: 201621027377

    8. "Retractable gripper Assembly device with angular controlled suction motion" by Venkat Raju, V S Prasad and Swagat Kumar. India:291881 (DoF: 21/03/2017), US 29/604,608, EPO-004006187-0001 (Granted), JP-2017-010014 (Granted)

    9. "System and Methods for detecting grasp poses for handling target objects." by Olyvia Kundu, Ehtesham Hassan and Swagat Kumar. India: 201721025912, DoF: 20/07/2017, US 16/031,865 (10/07/2018)

    10. "System and Methods for detection of precision graspable affordances in cluttered environment" by Olyvia Kundu and Swagat Kumar. India: 201821017851, LRN No: P2810-IN (DoF: 11/05/2018).

    11. "Actor model based architecture for multi-robot systems and optimized task scheduling thereof" by Aniruddha Singhal, Harsh V Singh, Aarti Penumatsa, Nakul Bhatt, Prakash Ambwani, Swagat Kumar and Rajesh Sinha. India: 201821021452 (DoF: 08/06/2018).

    12. "Method and System for Automatic Object Annotation using Deep Network" by Chandan Kumar Singh, Anima Majumder, Swagat Kumar and Laxmidhar Behera. India: 201821025354. DoF: 06/07/2018.

    13. "Method and System for multi-target tracking (MTT) in a distributed sensor (DS) network" by Chinmay Shinde, Kaushik Das, Rolif Lima and Swagat Kumar. India: 201921012728, DoF: 29/03/2019.

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