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08/19/2023
Skill Transformer: A Monolithic Policy for Mobile Manipulation
We present Skill Transformer, an approach for solving long-horizon robot...
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05/31/2023
Adaptive Coordination in Social Embodied Rearrangement
We present the task of "Social Rearrangement", consisting of cooperative...
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05/24/2023
ACE: Adversarial Correspondence Embedding for Cross Morphology Motion Retargeting from Human to Nonhuman Characters
Motion retargeting is a promising approach for generating natural and co...
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04/01/2023
Adaptive Skill Coordination for Robotic Mobile Manipulation
We present Adaptive Skill Coordination (ASC) - an approach for accomplis...
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03/29/2023
EgoTV: Egocentric Task Verification from Natural Language Task Descriptions
To enable progress towards egocentric agents capable of understanding ev...
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07/21/2022
Rethinking Sim2Real: Lower Fidelity Simulation Leads to Higher Sim2Real Transfer in Navigation
If we want to train robots in simulation before deploying them in realit...
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07/06/2022
Transformers are Adaptable Task Planners
Every home is different, and every person likes things done in their par...
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06/29/2022
Collaborative Navigation and Manipulation of a Cable-towed Load by Multiple Quadrupedal Robots
This paper tackles the problem of robots collaboratively towing a load w...
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09/28/2021
Learning Periodic Tasks from Human Demonstrations
We develop a method for learning periodic tasks from visual demonstratio...
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09/27/2021
Model-based Motion Imitation for Agile, Diverse and Generalizable Quadupedal Locomotion
Robots operating in human environments need a variety of skills, like sl...
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09/24/2021
Learning-based Initialization Strategy for Safety of Multi-Vehicle Systems
Multi-vehicle collision avoidance is a highly crucial problem due to the...
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02/25/2021
Efficient and Interpretable Robot Manipulation with Graph Neural Networks
Many manipulation tasks can be naturally cast as a sequence of spatial r...
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11/24/2020
Learning Navigation Skills for Legged Robots with Learned Robot Embeddings
Navigation policies are commonly learned on idealized cylinder agents in...
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11/07/2020
Leveraging Forward Model Prediction Error for Learning Control
Learning for model based control can be sample-efficient and generalize ...
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10/18/2020
Model-Based Inverse Reinforcement Learning from Visual Demonstrations
Scaling model-based inverse reinforcement learning (IRL) to real robotic...
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08/27/2020
Planning in Learned Latent Action Spaces for Generalizable Legged Locomotion
Hierarchical learning has been successful at learning generalizable loco...
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03/10/2020
Learning State-Dependent Losses for Inverse Dynamics Learning
Being able to quickly adapt to changes in dynamics is paramount in model...
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01/31/2020
Re-Examining Linear Embeddings for High-Dimensional Bayesian Optimization
Bayesian optimization (BO) is a popular approach to optimize expensive-t...
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01/24/2020
Encoding Physical Constraints in Differentiable Newton-Euler Algorithm
The recursive Newton-Euler Algorithm (RNEA) is a popular technique in ro...
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09/26/2019
Learning Generalizable Locomotion Skills with Hierarchical Reinforcement Learning
Learning to locomote to arbitrary goals on hardware remains a challengin...
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07/10/2019
Bayesian Optimization in Variational Latent Spaces with Dynamic Compression
Data-efficiency is crucial for autonomous robots to adapt to new tasks a...
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04/15/2019
Curious iLQR: Resolving Uncertainty in Model-based RL
Curiosity as a means to explore during reinforcement learning problems h...
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09/28/2018
Using Deep Reinforcement Learning to Learn High-Level Policies on the ATRIAS Biped
Learning controllers for bipedal robots is a challenging problem, often ...
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05/07/2018