112 citations · 314 across the 17 of their papers we have counts for
4 papers · 1 filter
DiffSkill: Skill Abstraction from Differentiable Physics for Deformable Object Manipulations with Tools
Xingyu Lin, Zhiao Huang, Yunzhu Li +3
We consider the problem of sequential robotic manipulation of deformable objects using tools. Previous works have shown that differentiable physics simulators provide gradients to…
Active Safety Envelopes using Light Curtains with Probabilistic Guarantees
Siddharth Ancha, Gaurav Pathak, Srinivasa G. Narasimhan +1
To safely navigate unknown environments, robots must accurately perceive dynamic obstacles. Instead of directly measuring the scene depth with a LiDAR sensor, we explore the use of…
ROLL: Visual Self-Supervised Reinforcement Learning with Object Reasoning
Yufei Wang, Gautham Narayan Narasimhan, Xingyu Lin +2
Current image-based reinforcement learning (RL) algorithms typically operate on the whole image without performing object-level reasoning. This leads to inefficient goal sampling a…
Constrained Policy Optimization
Joshua Achiam, David Held, Aviv Tamar +1
For many applications of reinforcement learning it can be more convenient to specify both a reward function and constraints, rather than trying to design behavior through the rewar…