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07/17/2023
Can Euclidean Symmetry be Leveraged in Reinforcement Learning and Planning?
In robotic tasks, changes in reference frames typically do not influence...
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11/16/2022
The Surprising Effectiveness of Equivariant Models in Domains with Latent Symmetry
Extensive work has demonstrated that equivariant neural networks can sig...
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10/24/2022
Scaling up and Stabilizing Differentiable Planning with Implicit Differentiation
Differentiable planning promises end-to-end differentiability and adapti...
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10/17/2022
Robust Imitation of a Few Demonstrations with a Backwards Model
Behavior cloning of expert demonstrations can speed up learning optimal ...
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06/08/2022
Integrating Symmetry into Differentiable Planning
We study how group symmetry helps improve data efficiency and generaliza...
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04/28/2022
Toward Compositional Generalization in Object-Oriented World Modeling
Compositional generalization is a critical ability in learning and decis...
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10/09/2021
Natural Language for Human-Robot Collaboration: Problems Beyond Language Grounding
To enable robots to instruct humans in collaborations, we identify sever...
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10/07/2021
Bad-Policy Density: A Measure of Reinforcement Learning Hardness
Reinforcement learning is hard in general. Yet, in many specific environ...
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06/07/2021
Hierarchical Robot Navigation in Novel Environments using Rough 2-D Maps
In robot navigation, generalizing quickly to unseen environments is esse...
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01/11/2021
Action Priors for Large Action Spaces in Robotics
In robotics, it is often not possible to learn useful policies using pur...
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10/11/2020
Deep Imitation Learning for Bimanual Robotic Manipulation
We present a deep imitation learning framework for robotic bimanual mani...
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03/09/2020
Learning discrete state abstractions with deep variational inference
Abstraction is crucial for effective sequential decision making in domai...
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07/26/2017
A Tale of Two DRAGGNs: A Hybrid Approach for Interpreting Action-Oriented and Goal-Oriented Instructions
Robots operating alongside humans in diverse, stochastic environments mu...
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06/02/2017
Latent Attention Networks
Deep neural networks are able to solve tasks across a variety of domains...
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04/21/2017
Accurately and Efficiently Interpreting Human-Robot Instructions of Varying Granularities
Humans can ground natural language commands to tasks at both abstract an...
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12/02/2015