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07/16/2022
Autonomously Untangling Long Cables
Cables are ubiquitous in many settings and it is often useful to untangl...
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06/29/2022
Fleet-DAgger: Interactive Robot Fleet Learning with Scalable Human Supervision
Commercial and industrial deployments of robot fleets often fall back on...
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03/09/2022
All You Need is LUV: Unsupervised Collection of Labeled Images using Invisible UV Fluorescent Indicators
Large-scale semantic image annotation is a significant challenge for lea...
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12/08/2021
Learning to Localize, Grasp, and Hand Over Unmodified Surgical Needles
Robotic Surgical Assistants (RSAs) are commonly used to perform minimall...
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12/07/2021
MESA: Offline Meta-RL for Safe Adaptation and Fault Tolerance
Safe exploration is critical for using reinforcement learning (RL) in ri...
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07/10/2021
LS3: Latent Space Safe Sets for Long-Horizon Visuomotor Control of Iterative Tasks
Reinforcement learning (RL) algorithms have shown impressive success in ...
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06/30/2021
SimNet: Enabling Robust Unknown Object Manipulation from Pure Synthetic Data via Stereo
Robot manipulation of unknown objects in unstructured environments is a ...
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06/29/2021
Untangling Dense Non-Planar Knots by Learning Manipulation Features and Recovery Policies
Robot manipulation for untangling 1D deformable structures such as ropes...
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06/06/2021
PAC Best Arm Identification Under a Deadline
We study (ϵ, δ)-PAC best arm identification, where a decision-maker must...
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06/04/2021
Disentangling Dense Multi-Cable Knots
Disentangling two or more cables requires many steps to remove crossings...
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03/31/2021
LazyDAgger: Reducing Context Switching in Interactive Imitation Learning
Corrective interventions while a robot is learning to automate a task pr...
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12/23/2020
Superhuman Surgical Peg Transfer Using Depth-Sensing and Deep Recurrent Neural Networks
We consider the automation of the well-known peg-transfer task from the ...
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11/12/2020
Intermittent Visual Servoing: Efficiently Learning Policies Robust to Instrument Changes for High-precision Surgical Manipulation
Automation of surgical tasks using cable-driven robots is challenging du...
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11/10/2020
Untangling Dense Knots by Learning Task-Relevant Keypoints
Untangling ropes, wires, and cables is a challenging task for robots due...
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10/31/2020
Resource Allocation in Multi-armed Bandit Exploration: Overcoming Nonlinear Scaling with Adaptive Parallelism
We study exploration in stochastic multi-armed bandits when we have acce...
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10/29/2020
Recovery RL: Safe Reinforcement Learning with Learned Recovery Zones
Safety remains a central obstacle preventing widespread use of RL in the...
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10/09/2020
MMGSD: Multi-Modal Gaussian Shape Descriptors for Correspondence Matching in 1D and 2D Deformable Objects
We explore learning pixelwise correspondences between images of deformab...
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03/28/2020
Learning to Smooth and Fold Real Fabric Using Dense Object Descriptors Trained on Synthetic Color Images
Robotic fabric manipulation is challenging due to the infinite dimension...
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03/19/2020
Efficiently Calibrating Cable-Driven Surgical Robots With RGBD Sensing, Temporal Windowing, and Linear and Recurrent Neural Network Compensation
Automation of surgical subtasks using cable-driven robotic surgical assi...
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03/03/2020
Learning Rope Manipulation Policies Using Dense Object Descriptors Trained on Synthetic Depth Data
Robotic manipulation of deformable 1D objects such as ropes, cables, and...
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03/03/2020
ABC-LMPC: Safe Sample-Based Learning MPC for Stochastic Nonlinear Dynamical Systems with Adjustable Boundary Conditions
Sample-based learning model predictive control (LMPC) strategies have re...
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02/15/2020
Applying Depth-Sensing to Automated Surgical Manipulation with a da Vinci Robot
Recent advances in depth-sensing have significantly increased accuracy, ...
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09/23/2019
Deep Imitation Learning of Sequential Fabric Smoothing Policies
Sequential pulling policies to flatten and smooth fabrics have applicati...
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07/08/2019
On-Policy Robot Imitation Learning from a Converging Supervisor
Existing on-policy imitation learning algorithms, such as DAgger, assume...
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05/31/2019
Extending Deep Model Predictive Control with Safety Augmented Value Estimation from Demonstrations
Reinforcement learning (RL) for robotics is challenging due to the diffi...
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11/19/2018