145 citations · 149 across the 4 of their papers we have counts for
5 papers · 1 filter
Practical Imitation Learning in the Real World via Task Consistency Loss
Mohi Khansari, Daniel Ho, Yuqing Du +6
Recent work in visual end-to-end learning for robotics has shown the promise of imitation learning across a variety of tasks. Such approaches are expensive both because they requir…
Bayesian Imitation Learning for End-to-End Mobile Manipulation
Yuqing Du, Daniel Ho, Alexander A. Alemi +2
In this work we investigate and demonstrate benefits of a Bayesian approach to imitation learning from multiple sensor inputs, as applied to the task of opening office doors with a…
SimGAN: Hybrid Simulator Identification for Domain Adaptation via Adversarial Reinforcement Learning
Yifeng Jiang, Tingnan Zhang, Daniel Ho +4
As learning-based approaches progress towards automating robot controllers design, transferring learned policies to new domains with different dynamics (e.g. sim-to-real transfer)…
COCOI: Contact-aware Online Context Inference for Generalizable Non-planar Pushing
Zhuo Xu, Wenhao Yu, Alexander Herzog +6
General contact-rich manipulation problems are long-standing challenges in robotics due to the difficulty of understanding complicated contact physics. Deep reinforcement learning…
RetinaGAN: An Object-aware Approach to Sim-to-Real Transfer
Daniel Ho, Kanishka Rao, Zhuo Xu +3
The success of deep reinforcement learning (RL) and imitation learning (IL) in vision-based robotic manipulation typically hinges on the expense of large scale data collection. Wit…