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08/28/2023
Symmetric Models for Visual Force Policy Learning
While it is generally acknowledged that force feedback is beneficial to ...
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08/15/2023
Leveraging Symmetries in Pick and Place
Robotic pick and place tasks are symmetric under translations and rotati...
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06/10/2023
On Robot Grasp Learning Using Equivariant Models
Real-world grasp detection is challenging due to the stochasticity in gr...
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03/08/2023
A General Theory of Correct, Incorrect, and Extrinsic Equivariance
Although equivariant machine learning has proven effective at many tasks...
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02/27/2023
Image to Sphere: Learning Equivariant Features for Efficient Pose Prediction
Predicting the pose of objects from a single image is an important but d...
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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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11/09/2022
Grasp Learning: Models, Methods, and Performance
Grasp learning has become an exciting and important topic in robotics. J...
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11/03/2022
Leveraging Fully Observable Policies for Learning under Partial Observability
Reinforcement learning in partially observable domains is challenging du...
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10/31/2022
SEIL: Simulation-augmented Equivariant Imitation Learning
In robotic manipulation, acquiring samples is extremely expensive becaus...
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10/31/2022
Edge Grasp Network: A Graph-Based SE(3)-invariant Approach to Grasp Detection
Given point cloud input, the problem of 6-DoF grasp pose detection is to...
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07/22/2022
Graph-Structured Policy Learning for Multi-Goal Manipulation Tasks
Multi-goal policy learning for robotic manipulation is challenging. Prio...
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07/18/2022
I2I: Image to Icosahedral Projection for SO(3) Object Reasoning from Single-View Images
Reasoning about 3D objects based on 2D images is challenging due to larg...
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06/29/2022
Visual Foresight With a Local Dynamics Model
Model-free policy learning has been shown to be capable of learning mani...
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06/02/2022
Deep Transformer Q-Networks for Partially Observable Reinforcement Learning
Real-world reinforcement learning tasks often involve some form of parti...
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05/28/2022
BulletArm: An Open-Source Robotic Manipulation Benchmark and Learning Framework
We present BulletArm, a novel benchmark and learning-environment for rob...
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04/03/2022
Efficient and Accurate Candidate Generation for Grasp Pose Detection in SE(3)
Grasp detection of novel objects in unstructured environments is a key c...
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04/02/2022
Hierarchical Reinforcement Learning under Mixed Observability
The framework of mixed observable Markov decision processes (MOMDP) mode...
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03/21/2022
Tactile Pose Estimation and Policy Learning for Unknown Object Manipulation
Object pose estimation methods allow finding locations of objects in uns...
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03/09/2022
On-Robot Policy Learning with O(2)-Equivariant SAC
Recently, equivariant neural network models have been shown to be useful...
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03/08/2022
SO(2)-Equivariant Reinforcement Learning
Equivariant neural networks enforce symmetry within the structure of the...
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02/18/2022
Sample Efficient Grasp Learning Using Equivariant Models
In planar grasp detection, the goal is to learn a function from an image...
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02/18/2022
Equivariant Transporter Network
Transporter Net is a recently proposed framework for pick and place that...
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01/20/2022
GASCN: Graph Attention Shape Completion Network
Shape completion, the problem of inferring the complete geometry of an o...
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12/15/2021
A Targeted Approach to Confounder Selection for High-Dimensional Data
We consider the problem of selecting confounders for adjustment from a p...
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10/28/2021
Equivariant Q Learning in Spatial Action Spaces
Recently, a variety of new equivariant neural network model architecture...
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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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11/11/2020
Learning Bayes Filter Models for Tactile Localization
Localizing and tracking the pose of robotic grippers are necessary skill...
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10/19/2020
Belief-Grounded Networks for Accelerated Robot Learning under Partial Observability
Many important robotics problems are partially observable in the sense t...
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10/15/2020
Pick-Place With Uncertain Object Instance Segmentation and Shape Completion
In this paper we consider joint perception and control of a pick-place s...
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10/06/2020
Policy learning in SE(3) action spaces
In the spatial action representation, the action space spans the space o...
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05/24/2020
Learning visual servo policies via planner cloning
Learning control policies for visual servoing in novel environments is a...
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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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04/19/2019
Learning Manipulation Skills Via Hierarchical Spatial Attention
Learning generalizable skills in robotic manipulation has long been chal...
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11/30/2018
Online abstraction with MDP homomorphisms for Deep Learning
Abstraction of Markov Decision Processes is a useful tool for solving co...
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10/08/2018
AutOTranS: an Autonomous Open World Transportation System
Tasks in outdoor open world environments are now ripe for automation wit...
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09/25/2018
A Scooter-Mounted Robot Arm to Assist with Activities of Daily Life
Many people with motor disabilities struggle with activities of daily li...
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07/27/2018
Adapting control policies from simulation to reality using a pairwise loss
This paper proposes an approach to domain transfer based on a pairwise l...
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06/26/2018
Deictic Image Maps: An Abstraction For Learning Pose Invariant Manipulation Policies
In applications of deep reinforcement learning to robotics, it is often ...
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06/15/2018
Learning 6-DoF Grasping and Pick-Place Using Attention Focus
We address a class of manipulation problems where the robot perceives th...
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05/21/2018
Hierarchical Reinforcement Learning with Hindsight
Reinforcement Learning (RL) algorithms can suffer from poor sample effic...
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12/04/2017
Hierarchical Actor-Critic
We present a novel approach to hierarchical reinforcement learning calle...
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06/14/2017