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10/14/2022
Monte Carlo Augmented Actor-Critic for Sparse Reward Deep Reinforcement Learning from Suboptimal Demonstrations
Providing densely shaped reward functions for RL algorithms is often exc...
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07/02/2022
Learning Switching Criteria for Sim2Real Transfer of Robotic Fabric Manipulation Policies
Simulation-to-reality transfer has emerged as a popular and highly succe...
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01/25/2022
Dynamics-Aware Comparison of Learned Reward Functions
The ability to learn reward functions plays an important role in enablin...
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12/07/2021
MESA: Offline Meta-RL for Safe Adaptation and Fault Tolerance
Safe exploration is critical for using reinforcement learning (RL) in ri...
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11/29/2021
LEGS: Learning Efficient Grasp Sets for Exploratory Grasping
Previous work defined Exploratory Grasping, where a robot iteratively gr...
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09/17/2021
ThriftyDAgger: Budget-Aware Novelty and Risk Gating for Interactive Imitation Learning
Effective robot learning often requires online human feedback and interv...
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07/13/2021
Kit-Net: Self-Supervised Learning to Kit Novel 3D Objects into Novel 3D Cavities
In industrial part kitting, 3D objects are inserted into cavities for tr...
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07/10/2021
LS3: Latent Space Safe Sets for Long-Horizon Visuomotor Control of Iterative Tasks
Reinforcement learning (RL) algorithms have shown impressive success in ...
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06/29/2021
Untangling Dense Non-Planar Knots by Learning Manipulation Features and Recovery Policies
Robot manipulation for untangling 1D deformable structures such as ropes...
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06/11/2021
Policy Gradient Bayesian Robust Optimization for Imitation Learning
The difficulty in specifying rewards for many real-world problems has le...
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06/04/2021
Disentangling Dense Multi-Cable Knots
Disentangling two or more cables requires many steps to remove crossings...
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05/29/2021
Orienting Novel 3D Objects Using Self-Supervised Learning of Rotation Transforms
Orienting objects is a critical component in the automation of many pack...
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03/31/2021
LazyDAgger: Reducing Context Switching in Interactive Imitation Learning
Corrective interventions while a robot is learning to automate a task pr...
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02/19/2021
VisuoSpatial Foresight for Physical Sequential Fabric Manipulation
Robotic fabric manipulation has applications in home robotics, textiles,...
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11/11/2020
Accelerating Grasp Exploration by Leveraging Learned Priors
The ability of robots to grasp novel objects has industry applications i...
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11/11/2020
Exploratory Grasping: Asymptotically Optimal Algorithms for Grasping Challenging Polyhedral Objects
There has been significant recent work on data-driven algorithms for lea...
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11/10/2020
Untangling Dense Knots by Learning Task-Relevant Keypoints
Untangling ropes, wires, and cables is a challenging task for robots due...
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10/29/2020
Recovery RL: Safe Reinforcement Learning with Learned Recovery Zones
Safety remains a central obstacle preventing widespread use of RL in the...
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10/09/2020
MMGSD: Multi-Modal Gaussian Shape Descriptors for Correspondence Matching in 1D and 2D Deformable Objects
We explore learning pixelwise correspondences between images of deformab...
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03/28/2020
Learning to Smooth and Fold Real Fabric Using Dense Object Descriptors Trained on Synthetic Color Images
Robotic fabric manipulation is challenging due to the infinite dimension...
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03/19/2020
VisuoSpatial Foresight for Multi-Step, Multi-Task Fabric Manipulation
Robotic fabric manipulation has applications in cloth and cable manageme...
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03/03/2020
Learning Rope Manipulation Policies Using Dense Object Descriptors Trained on Synthetic Depth Data
Robotic manipulation of deformable 1D objects such as ropes, cables, and...
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03/03/2020
ABC-LMPC: Safe Sample-Based Learning MPC for Stochastic Nonlinear Dynamical Systems with Adjustable Boundary Conditions
Sample-based learning model predictive control (LMPC) strategies have re...
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09/23/2019
Deep Imitation Learning of Sequential Fabric Smoothing Policies
Sequential pulling policies to flatten and smooth fabrics have applicati...
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07/08/2019
On-Policy Robot Imitation Learning from a Converging Supervisor
Existing on-policy imitation learning algorithms, such as DAgger, assume...
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05/31/2019
Extending Deep Model Predictive Control with Safety Augmented Value Estimation from Demonstrations
Reinforcement learning (RL) for robotics is challenging due to the diffi...
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03/04/2019
Mechanical Search: Multi-Step Retrieval of a Target Object Occluded by Clutter
When operating in unstructured environments such as warehouses, homes, a...
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04/02/2018