31 citations · 95 across the 18 of their papers we have counts for
7 papers · 1 filter
LEGS: Learning Efficient Grasp Sets for Exploratory Grasping
Letian Fu, Michael Danielczuk, Ashwin Balakrishna +4
While deep learning has enabled significant progress in designing general purpose robot grasping systems, there remain objects which still pose challenges for these systems. Recent…
ThriftyDAgger: Budget-Aware Novelty and Risk Gating for Interactive Imitation Learning
Ryan Hoque, Ashwin Balakrishna, Ellen Novoseller +3
Effective robot learning often requires online human feedback and interventions that can cost significant human time, giving rise to the central challenge in interactive imitation…
Kit-Net: Self-Supervised Learning to Kit Novel 3D Objects into Novel 3D Cavities
Shivin Devgon, Jeffrey Ichnowski, Michael Danielczuk +6
In industrial part kitting, 3D objects are inserted into cavities for transportation or subsequent assembly. Kitting is a critical step as it can decrease downstream processing and…
Policy Gradient Bayesian Robust Optimization for Imitation Learning
Zaynah Javed, Daniel S. Brown, Satvik Sharma +5
The difficulty in specifying rewards for many real-world problems has led to an increased focus on learning rewards from human feedback, such as demonstrations. However, there are…
Situational Confidence Assistance for Lifelong Shared Autonomy
Matthew Zurek, Andreea Bobu, Daniel S. Brown +1
Shared autonomy enables robots to infer user intent and assist in accomplishing it. But when the user wants to do a new task that the robot does not know about, shared autonomy wil…
Optimal Cost Design for Model Predictive Control
Avik Jain, Lawrence Chan, Daniel S. Brown +1
Many robotics domains use some form of nonconvex model predictive control (MPC) for planning, which sets a reduced time horizon, performs trajectory optimization, and replans at ev…