103 citations · 257 across the 17 of their papers we have counts for
4 papers · 1 filter
Learning and Retrieval from Prior Data for Skill-based Imitation Learning
Soroush Nasiriany, Tian Gao, Ajay Mandlekar +1
Imitation learning offers a promising path for robots to learn general-purpose behaviors, but traditionally has exhibited limited scalability due to high data supervision requireme…
Augmenting Reinforcement Learning with Behavior Primitives for Diverse Manipulation Tasks
Soroush Nasiriany, Huihan Liu, Yuke Zhu
Realistic manipulation tasks require a robot to interact with an environment with a prolonged sequence of motor actions. While deep reinforcement learning methods have recently eme…
DisCo RL: Distribution-Conditioned Reinforcement Learning for General-Purpose Policies
Soroush Nasiriany, Vitchyr H. Pong, Ashvin Nair +3
Can we use reinforcement learning to learn general-purpose policies that can perform a wide range of different tasks, resulting in flexible and reusable skills? Contextual policies…
Planning with Goal-Conditioned Policies
Soroush Nasiriany, Vitchyr H. Pong, Steven Lin +1
Planning methods can solve temporally extended sequential decision making problems by composing simple behaviors. However, planning requires suitable abstractions for the states an…