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05/04/2023
Masked Trajectory Models for Prediction, Representation, and Control
We introduce Masked Trajectory Models (MTM) as a generic abstraction for...
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03/31/2023
Where are we in the search for an Artificial Visual Cortex for Embodied Intelligence?
We present the largest and most comprehensive empirical study of pre-tra...
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02/01/2022
CIC: Contrastive Intrinsic Control for Unsupervised Skill Discovery
We introduce Contrastive Intrinsic Control (CIC), an algorithm for unsup...
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07/16/2021
Visual Adversarial Imitation Learning using Variational Models
Reward function specification, which requires considerable human effort ...
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06/16/2021
Behavioral Priors and Dynamics Models: Improving Performance and Domain Transfer in Offline RL
Offline Reinforcement Learning (RL) aims to extract near-optimal policie...
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06/02/2021
Decision Transformer: Reinforcement Learning via Sequence Modeling
We present a framework that abstracts Reinforcement Learning (RL) as a s...
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02/16/2021
COMBO: Conservative Offline Model-Based Policy Optimization
Model-based algorithms, which learn a dynamics model from logged experie...
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12/21/2020
Offline Reinforcement Learning from Images with Latent Space Models
Offline reinforcement learning (RL) refers to the problem of learning po...
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05/12/2020
MOReL : Model-Based Offline Reinforcement Learning
In offline reinforcement learning (RL), the goal is to learn a successfu...
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04/16/2020
A Game Theoretic Framework for Model Based Reinforcement Learning
Model-based reinforcement learning (MBRL) has recently gained immense in...
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01/21/2020
Lyceum: An efficient and scalable ecosystem for robot learning
We introduce Lyceum, a high-performance computational ecosystem for robo...
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09/10/2019
Meta-Learning with Implicit Gradients
A core capability of intelligent systems is the ability to quickly learn...
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02/22/2019
Online Meta-Learning
A central capability of intelligent systems is the ability to continuous...
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11/05/2018
Plan Online, Learn Offline: Efficient Learning and Exploration via Model-Based Control
We propose a plan online and learn offline (POLO) framework for the sett...
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10/14/2018
Dexterous Manipulation with Deep Reinforcement Learning: Efficient, General, and Low-Cost
Dexterous multi-fingered robotic hands can perform a wide range of manip...
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03/28/2018
Reinforcement learning for non-prehensile manipulation: Transfer from simulation to physical system
Reinforcement learning has emerged as a promising methodology for traini...
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03/20/2018
Variance Reduction for Policy Gradient with Action-Dependent Factorized Baselines
Policy gradient methods have enjoyed great success in deep reinforcement...
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11/27/2017
Divide-and-Conquer Reinforcement Learning
Standard model-free deep reinforcement learning (RL) algorithms sample a...
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09/28/2017
Learning Complex Dexterous Manipulation with Deep Reinforcement Learning and Demonstrations
Dexterous multi-fingered hands are extremely versatile and provide a gen...
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10/05/2016
EPOpt: Learning Robust Neural Network Policies Using Model Ensembles
Sample complexity and safety are major challenges when learning policies...
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11/19/2015