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06/13/2023
Fast-Grasp'D: Dexterous Multi-finger Grasp Generation Through Differentiable Simulation
Multi-finger grasping relies on high quality training data, which is har...
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05/27/2023
Self-Supervised Learning of Action Affordances as Interaction Modes
When humans perform a task with an articulated object, they interact wit...
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05/18/2023
SlotDiffusion: Object-Centric Generative Modeling with Diffusion Models
Object-centric learning aims to represent visual data with a set of obje...
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04/30/2023
Learning Achievement Structure for Structured Exploration in Domains with Sparse Reward
We propose Structured Exploration with Achievements (SEA), a multi-stage...
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04/26/2023
StepFormer: Self-supervised Step Discovery and Localization in Instructional Videos
Instructional videos are an important resource to learn procedural tasks...
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03/26/2023
Δ-Networks for Efficient Model Patching
Models pre-trained on large-scale datasets are often finetuned to suppor...
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03/24/2023
Errors are Useful Prompts: Instruction Guided Task Programming with Verifier-Assisted Iterative Prompting
Generating low-level robot task plans from high-level natural language i...
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02/22/2023
MVTrans: Multi-View Perception of Transparent Objects
Transparent object perception is a crucial skill for applications such a...
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01/10/2023
ORBIT: A Unified Simulation Framework for Interactive Robot Learning Environments
We present ORBIT, a unified and modular framework for robot learning pow...
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12/29/2022
Offline Policy Optimization in RL with Variance Regularizaton
Learning policies from fixed offline datasets is a key challenge to scal...
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12/19/2022
An Adaptive Robotics Framework for Chemistry Lab Automation
In the process of materials discovery, chemists currently need to perfor...
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11/14/2022
NeurIPS 2022 Competition: Driving SMARTS
Driving SMARTS is a regular competition designed to tackle problems caus...
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11/03/2022
nerf2nerf: Pairwise Registration of Neural Radiance Fields
We introduce a technique for pairwise registration of neural fields that...
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10/20/2022
Breaking Bad: A Dataset for Geometric Fracture and Reassembly
We introduce Breaking Bad, a large-scale dataset of fractured objects. O...
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10/20/2022
MoCoDA: Model-based Counterfactual Data Augmentation
The number of states in a dynamic process is exponential in the number o...
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10/07/2022
See, Plan, Predict: Language-guided Cognitive Planning with Video Prediction
Cognitive planning is the structural decomposition of complex tasks into...
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09/22/2022
ProgPrompt: Generating Situated Robot Task Plans using Large Language Models
Task planning can require defining myriad domain knowledge about the wor...
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08/25/2022
Grasp'D: Differentiable Contact-rich Grasp Synthesis for Multi-fingered Hands
The study of hand-object interaction requires generating viable grasp po...
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06/29/2022
Neural Motion Fields: Encoding Grasp Trajectories as Implicit Value Functions
The pipeline of current robotic pick-and-place methods typically consist...
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06/17/2022
SMPL: Simulated Industrial Manufacturing and Process Control Learning Environments
Traditional biological and pharmaceutical manufacturing plants are contr...
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05/30/2022
Neural Shape Mating: Self-Supervised Object Assembly with Adversarial Shape Priors
Learning to autonomously assemble shapes is a crucial skill for many rob...
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04/14/2022
Accelerated Policy Learning with Parallel Differentiable Simulation
Deep reinforcement learning can generate complex control policies, but r...
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04/04/2022
Value Gradient weighted Model-Based Reinforcement Learning
Model-based reinforcement learning (MBRL) is a sample efficient techniqu...
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03/28/2022
X-Pool: Cross-Modal Language-Video Attention for Text-Video Retrieval
In text-video retrieval, the objective is to learn a cross-modal similar...
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03/19/2022
DiSECt: A Differentiable Simulator for Parameter Inference and Control in Robotic Cutting
Robotic cutting of soft materials is critical for applications such as f...
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02/23/2022
Pessimistic Bootstrapping for Uncertainty-Driven Offline Reinforcement Learning
Offline Reinforcement Learning (RL) aims to learn policies from previous...
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11/02/2021
Koopman Q-learning: Offline Reinforcement Learning via Symmetries of Dynamics
Offline reinforcement learning leverages large datasets to train policie...
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10/30/2021
Convergence and Optimality of Policy Gradient Methods in Weakly Smooth Settings
Policy gradient methods have been frequently applied to problems in cont...
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10/27/2021
Reinforcement Learning in Factored Action Spaces using Tensor Decompositions
We present an extended abstract for the previously published work TESSER...
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10/20/2021
Dynamic Bottleneck for Robust Self-Supervised Exploration
Exploration methods based on pseudo-count of transitions or curiosity of...
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10/05/2021
Continuous-Time Fitted Value Iteration for Robust Policies
Solving the Hamilton-Jacobi-Bellman equation is important in many domain...
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09/30/2021
Seeing Glass: Joint Point Cloud and Depth Completion for Transparent Objects
The basis of many object manipulation algorithms is RGB-D input. Yet, co...
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09/25/2021
Auditing AI models for Verified Deployment under Semantic Specifications
Auditing trained deep learning (DL) models prior to deployment is vital ...
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09/10/2021
PlaTe: Visually-Grounded Planning with Transformers in Procedural Tasks
In this work, we study the problem of how to leverage instructional vide...
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08/26/2021
Drop-DTW: Aligning Common Signal Between Sequences While Dropping Outliers
In this work, we consider the problem of sequence-to-sequence alignment ...
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08/22/2021
Transferring Dexterous Manipulation from GPU Simulation to a Remote Real-World TriFinger
We present a system for learning a challenging dexterous manipulation ta...
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07/14/2021
Centralized Model and Exploration Policy for Multi-Agent RL
Reinforcement learning (RL) in partially observable, fully cooperative m...
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07/12/2021
A Persistent Spatial Semantic Representation for High-level Natural Language Instruction Execution
Natural language provides an accessible and expressive interface to spec...
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07/06/2021
Learning Latent Actions to Control Assistive Robots
Assistive robot arms enable people with disabilities to conduct everyday...
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06/28/2021
GIFT: Generalizable Interaction-aware Functional Tool Affordances without Labels
Tool use requires reasoning about the fit between an object's affordance...
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06/08/2021
Neural Hybrid Automata: Learning Dynamics with Multiple Modes and Stochastic Transitions
Effective control and prediction of dynamical systems often require appr...
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05/31/2021
Tesseract: Tensorised Actors for Multi-Agent Reinforcement Learning
Reinforcement Learning in large action spaces is a challenging problem. ...
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05/25/2021
DiSECt: A Differentiable Simulation Engine for Autonomous Robotic Cutting
Robotic cutting of soft materials is critical for applications such as f...
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05/25/2021
Robust Value Iteration for Continuous Control Tasks
When transferring a control policy from simulation to a physical system,...
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05/18/2021
Coach-Player Multi-Agent Reinforcement Learning for Dynamic Team Composition
In real-world multiagent systems, agents with different capabilities may...
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05/13/2021
Principled Exploration via Optimistic Bootstrapping and Backward Induction
One principled approach for provably efficient exploration is incorporat...
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05/10/2021
Value Iteration in Continuous Actions, States and Time
Classical value iteration approaches are not applicable to environments ...
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04/20/2021
GLiDE: Generalizable Quadrupedal Locomotion in Diverse Environments with a Centroidal Model
Model-free reinforcement learning (RL) for legged locomotion commonly re...
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03/29/2021
LASER: Learning a Latent Action Space for Efficient Reinforcement Learning
The process of learning a manipulation task depends strongly on the acti...
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03/18/2021