research
∙
06/24/2023
Fighting Uncertainty with Gradients: Offline Reinforcement Learning via Diffusion Score Matching
Offline optimization paradigms such as offline Reinforcement Learning (R...
share
research
∙
06/22/2022
Global Planning for Contact-Rich Manipulation via Local Smoothing of Quasi-dynamic Contact Models
The empirical success of Reinforcement Learning (RL) in the setting of c...
research
∙
02/02/2022
Do Differentiable Simulators Give Better Policy Gradients?
Differentiable simulators promise faster computation time for reinforcem...
research
∙
11/02/2021
SEED: Series Elastic End Effectors in 6D for Visuotactile Tool Use
We propose the framework of Series Elastic End Effectors in 6D (SEED), w...
research
∙
09/11/2021
Bundled Gradients through Contact via Randomized Smoothing
The empirical success of derivative-free methods in reinforcement learni...
research
∙
02/21/2020
The Surprising Effectiveness of Linear Models for Visual Foresight in Object Pile Manipulation
In this paper, we tackle the problem of pushing piles of small objects i...
research
∙
09/23/2019