539 citations · 1.5k across the 37 of their papers we have counts for
6 papers · 1 filter
Morphology-Agnostic Visual Robotic Control
Brian Yang, Dinesh Jayaraman, Glen Berseth +2
Existing approaches for visuomotor robotic control typically require characterizing the robot in advance by calibrating the camera or performing system identification. We propose M…
SMiRL: Surprise Minimizing Reinforcement Learning in Unstable Environments
Glen Berseth, Daniel Geng, Coline Devin +4
Every living organism struggles against disruptive environmental forces to carve out and maintain an orderly niche. We propose that such a struggle to achieve and preserve order mi…
Emergence of Exploratory Look-Around Behaviors through Active Observation Completion
Santhosh K. Ramakrishnan, Dinesh Jayaraman, Kristen Grauman
Standard computer vision systems assume access to intelligently captured inputs (e.g., photos from a human photographer), yet autonomously capturing good observations is a major ch…
REPLAB: A Reproducible Low-Cost Arm Benchmark Platform for Robotic Learning
Brian Yang, Jesse Zhang, Vitchyr Pong +2
Standardized evaluation measures have aided in the progress of machine learning approaches in disciplines such as computer vision and machine translation. In this paper, we make th…
Causal Confusion in Imitation Learning
Pim de Haan, Dinesh Jayaraman, Sergey Levine
Behavioral cloning reduces policy learning to supervised learning by training a discriminative model to predict expert actions given observations. Such discriminative models are no…
Manipulation by Feel: Touch-Based Control with Deep Predictive Models
Stephen Tian, Frederik Ebert, Dinesh Jayaraman +4
Touch sensing is widely acknowledged to be important for dexterous robotic manipulation, but exploiting tactile sensing for continuous, non-prehensile manipulation is challenging.…