20 citations · 52 across the 12 of their papers we have counts for
4 papers · 1 filter
Task-Informed Fidelity Management for Speeding Up Robotics Simulation
Abhijeet Tallavajhula, Adrian Schoisengeier, Sung-Kyun Kim +3
Simulators are an important tool in robotics that is used to develop robot software and generate synthetic data for machine learning algorithms. Faster simulation can result in bet…
Planning, Learning and Reasoning Framework for Robot Truck Unloading
Fahad Islam, Anirudh Vemula, Sung-Kyun Kim +3
We consider the task of autonomously unloading boxes from trucks using an industrial manipulator robot. There are multiple challenges that arise: (1) real-time motion planning for…
Provably Efficient Imitation Learning from Observation Alone
Wen Sun, Anirudh Vemula, Byron Boots +1
We study Imitation Learning (IL) from Observations alone (ILFO) in large-scale MDPs. While most IL algorithms rely on an expert to directly provide actions to the learner, in this…
Contrasting Exploration in Parameter and Action Space: A Zeroth-Order Optimization Perspective
Anirudh Vemula, Wen Sun, J. Andrew Bagnell
Black-box optimizers that explore in parameter space have often been shown to outperform more sophisticated action space exploration methods developed specifically for the reinforc…