144 citations · 484 across the 36 of their papers we have counts for
5 papers · 1 filter
Deep Imitation Learning of Sequential Fabric Smoothing From an Algorithmic Supervisor
Daniel Seita, Aditya Ganapathi, Ryan Hoque +11
Sequential pulling policies to flatten and smooth fabrics have applications from surgery to manufacturing to home tasks such as bed making and folding clothes. Due to the complexit…
On-Policy Robot Imitation Learning from a Converging Supervisor
Ashwin Balakrishna, Brijen Thananjeyan, Jonathan Lee +4
Existing on-policy imitation learning algorithms, such as DAgger, assume access to a fixed supervisor. However, there are many settings where the supervisor may evolve during polic…
Safety Augmented Value Estimation from Demonstrations (SAVED): Safe Deep Model-Based RL for Sparse Cost Robotic Tasks
Brijen Thananjeyan, Ashwin Balakrishna, Ugo Rosolia +6
Reinforcement learning (RL) for robotics is challenging due to the difficulty in hand-engineering a dense cost function, which can lead to unintended behavior, and dynamical uncert…
Mechanical Search: Multi-Step Retrieval of a Target Object Occluded by Clutter
Michael Danielczuk, Andrey Kurenkov, Ashwin Balakrishna +6
When operating in unstructured environments such as warehouses, homes, and retail centers, robots are frequently required to interactively search for and retrieve specific objects…
Reliable Real-time Seismic Signal/Noise Discrimination with Machine Learning
Men-Andrin Meier, Zachary E. Ross, Anshul Ramachandran +7
In Earthquake Early Warning (EEW), every sufficiently impulsive signal is potentially the first evidence for an unfolding large earthquake. More often than not, however, impulsive…