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09/06/2023
Robotic Table Tennis: A Case Study into a High Speed Learning System
We present a deep-dive into a real-world robotic learning system that, i...
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05/24/2023
Barkour: Benchmarking Animal-level Agility with Quadruped Robots
Animals have evolved various agile locomotion strategies, such as sprint...
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05/24/2022
Differentiable Dynamics for Articulated 3d Human Motion Reconstruction
We introduce DiffPhy, a differentiable physics-based model for articulat...
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10/10/2021
Braxlines: Fast and Interactive Toolkit for RL-driven Behavior Engineering beyond Reward Maximization
The goal of continuous control is to synthesize desired behaviors. In re...
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09/15/2021
Multi-Task Learning with Sequence-Conditioned Transporter Networks
Enabling robots to solve multiple manipulation tasks has a wide range of...
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04/09/2021
Fast and Efficient Locomotion via Learned Gait Transitions
We focus on the problem of developing efficient controllers for quadrupe...
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12/06/2020
Learning to Rearrange Deformable Cables, Fabrics, and Bags with Goal-Conditioned Transporter Networks
Rearranging and manipulating deformable objects such as cables, fabrics,...
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11/09/2020
NeuralSim: Augmenting Differentiable Simulators with Neural Networks
Differentiable simulators provide an avenue for closing the sim-to-real ...
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07/12/2020
Augmenting Differentiable Simulators with Neural Networks to Close the Sim2Real Gap
We present a differentiable simulation architecture for articulated rigi...
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04/02/2020
Learning Agile Robotic Locomotion Skills by Imitating Animals
Reproducing the diverse and agile locomotion skills of animals has been ...
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10/07/2019
Policies Modulating Trajectory Generators
We propose an architecture for learning complex controllable behaviors b...
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09/28/2019
Learning Fast Adaptation with Meta Strategy Optimization
The ability to walk in new scenarios is a key milestone on the path towa...
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05/20/2018
Optimizing Simulations with Noise-Tolerant Structured Exploration
We propose a simple drop-in noise-tolerant replacement for the standard ...
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04/27/2018