233 citations · 528 across the 30 of their papers we have counts for
5 papers · 1 filter
Learning Transferable Motor Skills with Hierarchical Latent Mixture Policies
Dushyant Rao, Fereshteh Sadeghi, Leonard Hasenclever +8
For robots operating in the real world, it is desirable to learn reusable behaviours that can effectively be transferred and adapted to numerous tasks and scenarios. We propose an…
Wish you were here: Hindsight Goal Selection for long-horizon dexterous manipulation
Todor Davchev, Oleg Sushkov, Jean-Baptiste Regli +4
Complex sequential tasks in continuous-control settings often require agents to successfully traverse a set of "narrow passages" in their state space. Solving such tasks with a spa…
With a Little Help from My Friends: Nearest-Neighbor Contrastive Learning of Visual Representations
Debidatta Dwibedi, Yusuf Aytar, Jonathan Tompson +2
Self-supervised learning algorithms based on instance discrimination train encoders to be invariant to pre-defined transformations of the same instance. While most methods treat di…
Manipulator-Independent Representations for Visual Imitation
Yuxiang Zhou, Yusuf Aytar, Konstantinos Bousmalis
Imitation learning is an effective tool for robotic learning tasks where specifying a reinforcement learning (RL) reward is not feasible or where the exploration problem is particu…
Learning rich touch representations through cross-modal self-supervision
Martina Zambelli, Yusuf Aytar, Francesco Visin +2
The sense of touch is fundamental in several manipulation tasks, but rarely used in robot manipulation. In this work we tackle the problem of learning rich touch features from cros…