176 citations · 699 across the 41 of their papers we have counts for
15 papers · 1 filter
Grounded Graph Decoding Improves Compositional Generalization in Question Answering
Yu Gai, Paras Jain, Wendi Zhang +3
Question answering models struggle to generalize to novel compositions of training patterns, such to longer sequences or more complex test structures. Current end-to-end models lea…
C-Planning: An Automatic Curriculum for Learning Goal-Reaching Tasks
Tianjun Zhang, Benjamin Eysenbach, Ruslan Salakhutdinov +2
Goal-conditioned reinforcement learning (RL) can solve tasks in a wide range of domains, including navigation and manipulation, but learning to reach distant goals remains a centra…
FogROS: An Adaptive Framework for Automating Fog Robotics Deployment
Kaiyuan, Chen, Yafei Liang +6
As many robot automation applications increasingly rely on multi-core processing or deep-learning models, cloud computing is becoming an attractive and economically viable resource…
Accelerating Quadratic Optimization with Reinforcement Learning
Jeffrey Ichnowski, Paras Jain, Bartolomeo Stellato +6
First-order methods for quadratic optimization such as OSQP are widely used for large-scale machine learning and embedded optimal control, where many related problems must be rapid…
LS3: Latent Space Safe Sets for Long-Horizon Visuomotor Control of Sparse Reward Iterative Tasks
Albert Wilcox, Ashwin Balakrishna, Brijen Thananjeyan +2
Reinforcement learning (RL) has shown impressive success in exploring high-dimensional environments to learn complex tasks, but can often exhibit unsafe behaviors and require exten…
Untangling Dense Non-Planar Knots by Learning Manipulation Features and Recovery Policies
Priya Sundaresan, Jennifer Grannen, Brijen Thananjeyan +7
Robot manipulation for untangling 1D deformable structures such as ropes, cables, and wires is challenging due to their infinite dimensional configuration space, complex dynamics,…