20 citations · 150 across the 43 of their papers we have counts for
10 papers · 1 filter
Deep Reactive Planning in Dynamic Environments
Kei Ota, Devesh K. Jha, Tadashi Onishi +5
The main novelty of the proposed approach is that it allows a robot to learn an end-to-end policy which can adapt to changes in the environment during execution. While goal conditi…
Data-Efficient Learning for Complex and Real-Time Physical Problem Solving using Augmented Simulation
Kei Ota, Devesh K. Jha, Diego Romeres +7
Humans quickly solve tasks in novel systems with complex dynamics, without requiring much interaction. While deep reinforcement learning algorithms have achieved tremendous success…
Understanding Multi-Modal Perception Using Behavioral Cloning for Peg-In-a-Hole Insertion Tasks
Yifang Liu, Diego Romeres, Devesh K. Jha +1
One of the main challenges in peg-in-a-hole (PiH) insertion tasks is in handling the uncertainty in the location of the target hole. In order to address it, high-dimensional sensor…
Generative Deep Learning Model for a Multi-level Nano-Optic Broadband Power Splitter
Yingheng Tang, Keisuke Kojima, Toshiaki Koike-Akino +6
We propose a novel Conditional Variational Autoencoder (CVAE) model, enhanced with adversarial censoring and active learning, for the generation of 550 nm broad bandwidth (1250 nm…
Efficient Exploration in Constrained Environments with Goal-Oriented Reference Path
Kei Ota, Yoko Sasaki, Devesh K. Jha +2
In this paper, we consider the problem of building learning agents that can efficiently learn to navigate in constrained environments. The main goal is to design agents that can ef…
CAZSL: Zero-Shot Regression for Pushing Models by Generalizing Through Context
Wenyu Zhang, Skyler Seto, Devesh K. Jha
Learning accurate models of the physical world is required for a lot of robotic manipulation tasks. However, during manipulation, robots are expected to interact with unknown workp…
Can Increasing Input Dimensionality Improve Deep Reinforcement Learning?
Kei Ota, Tomoaki Oiki, Devesh K. Jha +2
Deep reinforcement learning (RL) algorithms have recently achieved remarkable successes in various sequential decision making tasks, leveraging advances in methods for training lar…
Model-Based Reinforcement Learning for Physical Systems Without Velocity and Acceleration Measurements
Alberto Dalla Libera, Diego Romeres, Devesh K. Jha +2
In this paper, we propose a derivative-free model learning framework for Reinforcement Learning (RL) algorithms based on Gaussian Process Regression (GPR). In many mechanical syste…
Multi-label Prediction in Time Series Data using Deep Neural Networks
Wenyu Zhang, Devesh K. Jha, Emil Laftchiev +1
This paper addresses a multi-label predictive fault classification problem for multidimensional time-series data. While fault (event) detection problems have been thoroughly studie…
Local Policy Optimization for Trajectory-Centric Reinforcement Learning
Patrik Kolaric, Devesh K. Jha, Arvind U. Raghunathan +4
The goal of this paper is to present a method for simultaneous trajectory and local stabilizing policy optimization to generate local policies for trajectory-centric model-based re…