169 citations · 661 across the 22 of their papers we have counts for
7 papers · 1 filter
Does Learning from Decentralized Non-IID Unlabeled Data Benefit from Self Supervision?
Lirui Wang, Kaiqing Zhang, Yunzhu Li +2
Decentralized learning has been advocated and widely deployed to make efficient use of distributed datasets, with an extensive focus on supervised learning (SL) problems. Unfortuna…
Reinforcement Learning with Neural Radiance Fields
Danny Driess, Ingmar Schubert, Pete Florence +2
It is a long-standing problem to find effective representations for training reinforcement learning (RL) agents. This paper demonstrates that learning state representations with su…
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…
Visual Grounding of Learned Physical Models
Yunzhu Li, Toru Lin, Kexin Yi +5
Humans intuitively recognize objects' physical properties and predict their motion, even when the objects are engaged in complicated interactions. The abilities to perform physical…
Learning Compositional Koopman Operators for Model-Based Control
Yunzhu Li, Hao He, Jiajun Wu +2
Finding an embedding space for a linear approximation of a nonlinear dynamical system enables efficient system identification and control synthesis. The Koopman operator theory lay…
Learning Particle Dynamics for Manipulating Rigid Bodies, Deformable Objects, and Fluids
Yunzhu Li, Jiajun Wu, Russ Tedrake +2
Real-life control tasks involve matters of various substances---rigid or soft bodies, liquid, gas---each with distinct physical behaviors. This poses challenges to traditional rigi…
InfoGAIL: Interpretable Imitation Learning from Visual Demonstrations
Yunzhu Li, Jiaming Song, Stefano Ermon
The goal of imitation learning is to mimic expert behavior without access to an explicit reward signal. Expert demonstrations provided by humans, however, often show significant va…