80 citations · 131 across the 10 of their papers we have counts for
18 papers
A Robustness Analysis of Inverse Optimal Control of Bipedal Walking
John R. Rebula, Stefan Schaal, James Finley +1
Cost functions have the potential to provide compact and understandable generalizations of motion. The goal of Inverse Optimal Control (IOC) is to analyze an observed behavior whic…
Benchmarking Off-The-Shelf Solutions to Robotic Assembly Tasks
Wenzhao Lian, Tim Kelch, Dirk Holz +2
In recent years, many learning based approaches have been studied to realize robotic manipulation and assembly tasks, often including vision and force/tactile feedback. However, it…
Learning Dense Rewards for Contact-Rich Manipulation Tasks
Zheng Wu, Wenzhao Lian, Vaibhav Unhelkar +2
Rewards play a crucial role in reinforcement learning. To arrive at the desired policy, the design of a suitable reward function often requires significant domain expertise as well…
An Interior Point Method Solving Motion Planning Problems with Narrow Passages
Jim Mainprice, Nathan Ratliff, Marc Toussaint +1
Algorithmic solutions for the motion planning problem have been investigated for five decades. Since the development of A* in 1969 many approaches have been investigated, tradition…
A New Age of Computing and the Brain
Polina Golland, Jack Gallant, Greg Hager +4
The history of computer science and brain sciences are intertwined. In his unfinished manuscript "The Computer and the Brain," von Neumann debates whether or not the brain can be t…
Simulator Predictive Control: Using Learned Task Representations and MPC for Zero-Shot Generalization and Sequencing
Zhanpeng He, Ryan Julian, Eric Heiden +5
Simulation-to-real transfer is an important strategy for making reinforcement learning practical with real robots. Successful sim-to-real transfer systems have difficulty producing…