113 citations · 217 across the 5 of their papers we have counts for
16 papers
Differentiable Factor Graph Optimization for Learning Smoothers
Brent Yi, Michelle A. Lee, Alina Kloss +2
A recent line of work has shown that end-to-end optimization of Bayesian filters can be used to learn state estimators for systems whose underlying models are difficult to hand-des…
LASER: Learning a Latent Action Space for Efficient Reinforcement Learning
Arthur Allshire, Roberto Martín-Martín, Charles Lin +3
The process of learning a manipulation task depends strongly on the action space used for exploration: posed in the incorrect action space, solving a task with reinforcement learni…
Robot Navigation in Constrained Pedestrian Environments using Reinforcement Learning
Claudia Pérez-D'Arpino, Can Liu, Patrick Goebel +2
Navigating fluently around pedestrians is a necessary capability for mobile robots deployed in human environments, such as buildings and homes. While research on social navigation…
Multimodal Sensor Fusion with Differentiable Filters
Michelle A. Lee, Brent Yi, Roberto Martín-Martín +2
Leveraging multimodal information with recursive Bayesian filters improves performance and robustness of state estimation, as recursive filters can combine different modalities acc…
ReLMoGen: Leveraging Motion Generation in Reinforcement Learning for Mobile Manipulation
Fei Xia, Chengshu Li, Roberto Martín-Martín +3
Many Reinforcement Learning (RL) approaches use joint control signals (positions, velocities, torques) as action space for continuous control tasks. We propose to lift the action s…
JRDB: A Dataset and Benchmark of Egocentric Robot Visual Perception of Humans in Built Environments
Roberto Martín-Martín, Mihir Patel, Hamid Rezatofighi +5
We present JRDB, a novel egocentric dataset collected from our social mobile manipulator JackRabbot. The dataset includes 64 minutes of annotated multimodal sensor data including s…