356 citations · 1.5k across the 30 of their papers we have counts for
3 papers · 1 filter
Trajectory Optimization with Optimization-Based Dynamics
Taylor A. Howell, Simon Le Cleac'h, Sumeet Singh +3
We present a framework for bi-level trajectory optimization in which a system's dynamics are encoded as the solution to a constrained optimization problem and smooth gradients of t…
Implicit Behavioral Cloning
Pete Florence, Corey Lynch, Andy Zeng +7
We find that across a wide range of robot policy learning scenarios, treating supervised policy learning with an implicit model generally performs better, on average, than commonly…
XIRL: Cross-embodiment Inverse Reinforcement Learning
Kevin Zakka, Andy Zeng, Pete Florence +3
We investigate the visual cross-embodiment imitation setting, in which agents learn policies from videos of other agents (such as humans) demonstrating the same task, but with star…