18 citations · 74 across the 11 of their papers we have counts for
3 papers · 1 filter
Working Backwards: Learning to Place by Picking
Oliver Limoyo, Abhisek Konar, Trevor Ablett +3
We present placing via picking (PvP), a method to autonomously collect real-world demonstrations for a family of placing tasks in which objects must be manipulated to specific, con…
Multimodal and Force-Matched Imitation Learning with a See-Through Visuotactile Sensor
Trevor Ablett, Oliver Limoyo, Adam Sigal +5
Contact-rich tasks continue to present many challenges for robotic manipulation. In this work, we leverage a multimodal visuotactile sensor within the framework of imitation learni…
Learning from Guided Play: Improving Exploration for Adversarial Imitation Learning with Simple Auxiliary Tasks
Trevor Ablett, Bryan Chan, Jonathan Kelly
Adversarial imitation learning (AIL) has become a popular alternative to supervised imitation learning that reduces the distribution shift suffered by the latter. However, AIL requ…