1.2k citations · 3.1k across the 91 of their papers we have counts for
10 papers · 1 filter
Faster Policy Learning with Continuous-Time Gradients
Samuel Ainsworth, Kendall Lowrey, John Thickstun +2
We study the estimation of policy gradients for continuous-time systems with known dynamics. By reframing policy learning in continuous-time, we show that it is possible construct…
Grasping with Chopsticks: Combating Covariate Shift in Model-free Imitation Learning for Fine Manipulation
Liyiming Ke, Jingqiang Wang, Tapomayukh Bhattacharjee +2
Billions of people use chopsticks, a simple yet versatile tool, for fine manipulation of everyday objects. The small, curved, and slippery tips of chopsticks pose a challenge for p…
Multimodal Trajectory Prediction via Topological Invariance for Navigation at Uncontrolled Intersections
Junha Roh, Christoforos Mavrogiannis, Rishabh Madan +2
We focus on decentralized navigation among multiple non-communicating rational agents at \emph{uncontrolled} intersections, i.e., street intersections without traffic signs or sign…
Leveraging Post Hoc Context for Faster Learning in Bandit Settings with Applications in Robot-Assisted Feeding
Ethan K. Gordon, Sumegh Roychowdhury, Tapomayukh Bhattacharjee +2
Autonomous robot-assisted feeding requires the ability to acquire a wide variety of food items. However, it is impossible for such a system to be trained on all types of food in ex…
Amodal 3D Reconstruction for Robotic Manipulation via Stability and Connectivity
William Agnew, Christopher Xie, Aaron Walsman +4
Learning-based 3D object reconstruction enables single- or few-shot estimation of 3D object models. For robotics, this holds the potential to allow model-based methods to rapidly a…
Telemanipulation with Chopsticks: Analyzing Human Factors in User Demonstrations
Liyiming Ke, Ajinkya Kamat, Jingqiang Wang +3
Chopsticks constitute a simple yet versatile tool that humans have used for thousands of years to perform a variety of challenging tasks ranging from food manipulation to surgery.…
Implicit Multiagent Coordination at Unsignalized Intersections via Multimodal Inference Enabled by Topological Braids
Christoforos Mavrogiannis, Jonathan A. DeCastro, Siddhartha S. Srinivasa
We focus on navigation among rational, non-communicating agents at unsignalized street intersections. Following collision-free motion under such settings demands nuanced implicit c…
Posterior Sampling for Anytime Motion Planning on Graphs with Expensive-to-Evaluate Edges
Brian Hou, Sanjiban Choudhury, Gilwoo Lee +2
Collision checking is a computational bottleneck in motion planning, requiring lazy algorithms that explicitly reason about when to perform this computation. Optimism in the face o…
Bayesian Residual Policy Optimization: Scalable Bayesian Reinforcement Learning with Clairvoyant Experts
Gilwoo Lee, Brian Hou, Sanjiban Choudhury +1
Informed and robust decision making in the face of uncertainty is critical for robots that perform physical tasks alongside people. We formulate this as Bayesian Reinforcement Lear…
Lyceum: An efficient and scalable ecosystem for robot learning
Colin Summers, Kendall Lowrey, Aravind Rajeswaran +2
We introduce Lyceum, a high-performance computational ecosystem for robot learning. Lyceum is built on top of the Julia programming language and the MuJoCo physics simulator, combi…