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09/18/2023
Wait, That Feels Familiar: Learning to Extrapolate Human Preferences for Preference Aligned Path Planning
Autonomous mobility tasks such as lastmile delivery require reasoning ab...
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08/06/2023
Autonomous Ground Navigation in Highly Constrained Spaces: Lessons learned from The 2nd BARN Challenge at ICRA 2023
The 2nd BARN (Benchmark Autonomous Robot Navigation) Challenge took plac...
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11/08/2022
ABC: Adversarial Behavioral Cloning for Offline Mode-Seeking Imitation Learning
Given a dataset of expert agent interactions with an environment of inte...
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10/26/2022
D-Shape: Demonstration-Shaped Reinforcement Learning via Goal Conditioning
While combining imitation learning (IL) and reinforcement learning (RL) ...
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09/27/2022
Learning Perceptual Hallucination for Multi-Robot Navigation in Narrow Hallways
While current systems for autonomous robot navigation can produce safe a...
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08/22/2022
Autonomous Ground Navigation in Highly Constrained Spaces: Lessons learned from The BARN Challenge at ICRA 2022
The BARN (Benchmark Autonomous Robot Navigation) Challenge took place at...
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06/16/2022
High-Speed Accurate Robot Control using Learned Forward Kinodynamics and Non-linear Least Squares Optimization
Accurate control of robots in the real world requires a control system t...
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03/30/2022
VI-IKD: High-Speed Accurate Off-Road Navigation using Learned Visual-Inertial Inverse Kinodynamics
One of the key challenges in high speed off road navigation on ground ve...
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03/28/2022
Socially Compliant Navigation Dataset (SCAND): A Large-Scale Dataset of Demonstrations for Social Navigation
Social navigation is the capability of an autonomous agent, such as a ro...
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02/01/2022
Adversarial Imitation Learning from Video using a State Observer
The imitation learning research community has recently made significant ...
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09/18/2021
Visual Representation Learning for Preference-Aware Path Planning
Autonomous mobile robots deployed in outdoor environments must reason ab...
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08/22/2021
APPLE: Adaptive Planner Parameter Learning from Evaluative Feedback
Classical autonomous navigation systems can control robots in a collisio...
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07/13/2021
Recent Advances in Leveraging Human Guidance for Sequential Decision-Making Tasks
A longstanding goal of artificial intelligence is to create artificial a...
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05/19/2021
VOILA: Visual-Observation-Only Imitation Learning for Autonomous Navigation
While imitation learning for vision based autonomous mobile robot naviga...
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05/17/2021
APPL: Adaptive Planner Parameter Learning
While current autonomous navigation systems allow robots to successfully...
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05/08/2021
RAIL: A modular framework for Reinforcement-learning-based Adversarial Imitation Learning
While Adversarial Imitation Learning (AIL) algorithms have recently led ...
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04/15/2021
Skeletal Feature Compensation for Imitation Learning with Embodiment Mismatch
Learning from demonstrations in the wild (e.g. YouTube videos) is a tant...
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03/31/2021
DEALIO: Data-Efficient Adversarial Learning for Imitation from Observation
In imitation learning from observation IfO, a learning agent seeks to im...
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11/26/2020
Motion Control for Mobile Robot Navigation Using Machine Learning: a Survey
Moving in complex environments is an essential capability of intelligent...
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11/01/2020
APPLI: Adaptive Planner Parameter Learning From Interventions
While classical autonomous navigation systems can typically move robots ...
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11/01/2020
APPLR: Adaptive Planner Parameter Learning from Reinforcement
Classical navigation systems typically operate using a fixed set of hand...
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09/29/2020
Lucid Dreaming for Experience Replay: Refreshing Past States with the Current Policy
Experience replay (ER) improves the data efficiency of off-policy reinfo...
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08/04/2020
An Imitation from Observation Approach to Sim-to-Real Transfer
The sim to real transfer problem deals with leveraging large amounts of ...
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08/04/2020
Stochastic Grounded Action Transformation for Robot Learning in Simulation
Robot control policies learned in simulation do not often transfer well ...
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08/04/2020
Reinforced Grounded Action Transformation for Sim-to-Real Transfer
Robots can learn to do complex tasks in simulation, but often, learned b...
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07/28/2020
Toward Agile Maneuvers in Highly Constrained Spaces: Learning from Hallucination
While classical approaches to autonomous robot navigation currently enab...
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03/31/2020
APPLD: Adaptive Planner Parameter Learning from Demonstration
Existing autonomous robot navigation systems allow robots to move from o...
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10/31/2019
A Narration-based Reward Shaping Approach using Grounded Natural Language Commands
While deep reinforcement learning techniques have led to agents that are...
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06/18/2019
Sample-efficient Adversarial Imitation Learning from Observation
Imitation from observation is the framework of learning tasks by observi...
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06/18/2019
RIDM: Reinforced Inverse Dynamics Modeling for Learning from a Single Observed Demonstration
Imitation learning has long been an approach to alleviate the tractabili...
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05/30/2019
Recent Advances in Imitation Learning from Observation
Imitation learning is the process by which one agent tries to learn how ...
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05/22/2019
Imitation Learning from Video by Leveraging Proprioception
Classically, imitation learning algorithms have been developed for ideal...
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04/24/2019
Grounding Natural Language Commands to StarCraft II Game States for Narration-Guided Reinforcement Learning
While deep reinforcement learning techniques have led to agents that are...
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09/15/2018
Deterministic Implementations for Reproducibility in Deep Reinforcement Learning
While deep reinforcement learning (DRL) has led to numerous successes in...
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07/17/2018
Generative Adversarial Imitation from Observation
Imitation from observation (IfO) is the problem of learning directly fro...
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05/04/2018
Behavioral Cloning from Observation
Humans often learn how to perform tasks via imitation: they observe othe...
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09/28/2017
Deep TAMER: Interactive Agent Shaping in High-Dimensional State Spaces
While recent advances in deep reinforcement learning have allowed autono...
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05/03/2016
Decentralized Dynamic Discriminative Dictionary Learning
We consider discriminative dictionary learning in a distributed online s...
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01/03/2014