62 citations · 189 across the 27 of their papers we have counts for
6 papers · 1 filter
Scene-level Tracking and Reconstruction without Object Priors
Haonan Chang, Abdeslam Boularias
We present the first real-time system capable of tracking and reconstructing, individually, every visible object in a given scene, without any form of prior on the rigidness of the…
Learning Category-Level Manipulation Tasks from Point Clouds with Dynamic Graph CNNs
Junchi Liang, Abdeslam Boularias
This paper presents a new technique for learning category-level manipulation from raw RGB-D videos of task demonstrations, with no manual labels or annotations. Category-level lear…
Parallel Monte Carlo Tree Search with Batched Rigid-body Simulations for Speeding up Long-Horizon Episodic Robot Planning
Baichuan Huang, Abdeslam Boularias, Jingjin Yu
We propose a novel Parallel Monte Carlo tree search with Batched Simulations (PMBS) algorithm for accelerating long-horizon, episodic robotic planning tasks. Monte Carlo tree searc…
USHER: Unbiased Sampling for Hindsight Experience Replay
Liam Schramm, Yunfu Deng, Edgar Granados +1
Dealing with sparse rewards is a long-standing challenge in reinforcement learning (RL). Hindsight Experience Replay (HER) addresses this problem by reusing failed trajectories for…
Interleaving Monte Carlo Tree Search and Self-Supervised Learning for Object Retrieval in Clutter
Baichuan Huang, Teng Guo, Abdeslam Boularias +1
In this study, working with the task of object retrieval in clutter, we have developed a robot learning framework in which Monte Carlo Tree Search (MCTS) is first applied to enable…
Learning Sensorimotor Primitives of Sequential Manipulation Tasks from Visual Demonstrations
Junchi Liang, Bowen Wen, Kostas Bekris +1
This work aims to learn how to perform complex robot manipulation tasks that are composed of several, consecutively executed low-level sub-tasks, given as input a few visual demons…