277 citations · 451 across the 18 of their papers we have counts for
4 papers · 1 filter
Generalizing Robot Imitation Learning with Invariant Hidden Semi-Markov Models
Ajay Kumar Tanwani, Jonathan Lee, Brijen Thananjeyan +5
Generalizing manipulation skills to new situations requires extracting invariant patterns from demonstrations. For example, the robot needs to understand the demonstrations at a hi…
Dynamic Regret Convergence Analysis and an Adaptive Regularization Algorithm for On-Policy Robot Imitation Learning
Jonathan N. Lee, Michael Laskey, Ajay Kumar Tanwani +2
On-policy imitation learning algorithms such as DAgger evolve a robot control policy by executing it, measuring performance (loss), obtaining corrective feedback from a supervisor,…
Deep Transfer Learning of Pick Points on Fabric for Robot Bed-Making
Daniel Seita, Nawid Jamali, Michael Laskey +6
A fundamental challenge in manipulating fabric for clothes folding and textiles manufacturing is computing "pick points" to effectively modify the state of an uncertain manifold. W…
Constraint Estimation and Derivative-Free Recovery for Robot Learning from Demonstrations
Jonathan Lee, Michael Laskey, Roy Fox +1
Learning from human demonstrations can facilitate automation but is risky because the execution of the learned policy might lead to collisions and other failures. Adding explicit c…