5 papers
Discriminator Augmented Model-Based Reinforcement Learning
Behzad Haghgoo, Allan Zhou, Archit Sharma +1
By planning through a learned dynamics model, model-based reinforcement learning (MBRL) offers the prospect of good performance with little environment interaction. However, it is…
Meta-Learning Symmetries by Reparameterization
Allan Zhou, Tom Knowles, Chelsea Finn
Many successful deep learning architectures are equivariant to certain transformations in order to conserve parameters and improve generalization: most famously, convolution layers…
Watch, Try, Learn: Meta-Learning from Demonstrations and Reward
Allan Zhou, Eric Jang, Daniel Kappler +7
Imitation learning allows agents to learn complex behaviors from demonstrations. However, learning a complex vision-based task may require an impractical number of demonstrations.…
Cost Functions for Robot Motion Style
Allan Zhou, Anca D. Dragan
We focus on autonomously generating robot motion for day to day physical tasks that is expressive of a certain style or emotion. Because we seek generalization across task instance…
Expressive Robot Motion Timing
Allan Zhou, Dylan Hadfield-Menell, Anusha Nagabandi +1
Our goal is to enable robots to \emph{time} their motion in a way that is purposefully expressive of their internal states, making them more transparent to people. We start by inve…