565 citations · 4.4k across the 119 of their papers we have counts for
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ExAug: Robot-Conditioned Navigation Policies via Geometric Experience Augmentation
Noriaki Hirose, Dhruv Shah, Ajay Sridhar +1
Machine learning techniques rely on large and diverse datasets for generalization. Computer vision, natural language processing, and other applications can often reuse public datas…
GenLoco: Generalized Locomotion Controllers for Quadrupedal Robots
Gilbert Feng, Hongbo Zhang, Zhongyu Li +8
Recent years have seen a surge in commercially-available and affordable quadrupedal robots, with many of these platforms being actively used in research and industry. As the availa…
INFOrmation Prioritization through EmPOWERment in Visual Model-Based RL
Homanga Bharadhwaj, Mohammad Babaeizadeh, Dumitru Erhan +1
Model-based reinforcement learning (RL) algorithms designed for handling complex visual observations typically learn some sort of latent state representation, either explicitly or…
Demonstration-Bootstrapped Autonomous Practicing via Multi-Task Reinforcement Learning
Abhishek Gupta, Corey Lynch, Brandon Kinman +3
Reinforcement learning systems have the potential to enable continuous improvement in unstructured environments, leveraging data collected autonomously. However, in practice these…
ASHA: Assistive Teleoperation via Human-in-the-Loop Reinforcement Learning
Sean Chen, Jensen Gao, Siddharth Reddy +3
Building assistive interfaces for controlling robots through arbitrary, high-dimensional, noisy inputs (e.g., webcam images of eye gaze) can be challenging, especially when it invo…
BC-Z: Zero-Shot Task Generalization with Robotic Imitation Learning
Eric Jang, Alex Irpan, Mohi Khansari +5
In this paper, we study the problem of enabling a vision-based robotic manipulation system to generalize to novel tasks, a long-standing challenge in robot learning. We approach th…