b'Animesh Garg'

research

∙ 06/13/2023

Fast-Grasp'D: Dexterous Multi-finger Grasp Generation Through Differentiable Simulation

Multi-finger grasping relies on high quality training data, which is har...

0 Dylan Turpin, et al. ∙

research

∙ 05/27/2023

Self-Supervised Learning of Action Affordances as Interaction Modes

When humans perform a task with an articulated object, they interact wit...

0 Liquan Wang, et al. ∙

research

∙ 05/18/2023

SlotDiffusion: Object-Centric Generative Modeling with Diffusion Models

Object-centric learning aims to represent visual data with a set of obje...

0 Ziyi Wu, et al. ∙

research

∙ 04/30/2023

Learning Achievement Structure for Structured Exploration in Domains with Sparse Reward

We propose Structured Exploration with Achievements (SEA), a multi-stage...

0 Zihan Zhou, et al. ∙

research

∙ 04/26/2023

StepFormer: Self-supervised Step Discovery and Localization in Instructional Videos

Instructional videos are an important resource to learn procedural tasks...

0 Nikita Dvornik, et al. ∙

research

∙ 03/26/2023

Δ-Networks for Efficient Model Patching

Models pre-trained on large-scale datasets are often finetuned to suppor...

0 Chaitanya Devaguptapu, et al. ∙

research

∙ 03/24/2023

Errors are Useful Prompts: Instruction Guided Task Programming with Verifier-Assisted Iterative Prompting

Generating low-level robot task plans from high-level natural language i...

0 Marta Skreta, et al. ∙

research

∙ 02/22/2023

MVTrans: Multi-View Perception of Transparent Objects

Transparent object perception is a crucial skill for applications such a...

0 Yi Ru Wang, et al. ∙

research

∙ 01/10/2023

ORBIT: A Unified Simulation Framework for Interactive Robot Learning Environments

We present ORBIT, a unified and modular framework for robot learning pow...

0 Mayank Mittal, et al. ∙

research

∙ 12/29/2022

Offline Policy Optimization in RL with Variance Regularizaton

Learning policies from fixed offline datasets is a key challenge to scal...

0 Riashat Islam, et al. ∙

research

∙ 12/19/2022

An Adaptive Robotics Framework for Chemistry Lab Automation

In the process of materials discovery, chemists currently need to perfor...

0 Naruki Yoshikawa, et al. ∙

research

∙ 11/14/2022

NeurIPS 2022 Competition: Driving SMARTS

Driving SMARTS is a regular competition designed to tackle problems caus...

0 Amir Rasouli, et al. ∙

research

∙ 11/03/2022

nerf2nerf: Pairwise Registration of Neural Radiance Fields

We introduce a technique for pairwise registration of neural fields that...

0 Lily Goli, et al. ∙

research

∙ 10/20/2022

Breaking Bad: A Dataset for Geometric Fracture and Reassembly

We introduce Breaking Bad, a large-scale dataset of fractured objects. O...

14 Silvia Sellán, et al. ∙

research

∙ 10/20/2022

MoCoDA: Model-based Counterfactual Data Augmentation

The number of states in a dynamic process is exponential in the number o...

0 Silviu Pitis, et al. ∙

research

∙ 10/07/2022

See, Plan, Predict: Language-guided Cognitive Planning with Video Prediction

Cognitive planning is the structural decomposition of complex tasks into...

0 Maria Attarian, et al. ∙

research

∙ 09/22/2022

ProgPrompt: Generating Situated Robot Task Plans using Large Language Models

Task planning can require defining myriad domain knowledge about the wor...

1 Ishika Singh, et al. ∙

research

∙ 08/25/2022

Grasp'D: Differentiable Contact-rich Grasp Synthesis for Multi-fingered Hands

The study of hand-object interaction requires generating viable grasp po...

0 Dylan Turpin, et al. ∙

research

∙ 06/29/2022

Neural Motion Fields: Encoding Grasp Trajectories as Implicit Value Functions

The pipeline of current robotic pick-and-place methods typically consist...

8 Yun-Chun Chen, et al. ∙

research

∙ 06/17/2022

SMPL: Simulated Industrial Manufacturing and Process Control Learning Environments

Traditional biological and pharmaceutical manufacturing plants are contr...

0 Mohan Zhang, et al. ∙

research

∙ 05/30/2022

Neural Shape Mating: Self-Supervised Object Assembly with Adversarial Shape Priors

Learning to autonomously assemble shapes is a crucial skill for many rob...

3 Yun-Chun Chen, et al. ∙

research

∙ 04/14/2022

Accelerated Policy Learning with Parallel Differentiable Simulation

Deep reinforcement learning can generate complex control policies, but r...

0 Jie Xu, et al. ∙

research

∙ 04/04/2022

Value Gradient weighted Model-Based Reinforcement Learning

Model-based reinforcement learning (MBRL) is a sample efficient techniqu...

4 Claas Voelcker, et al. ∙

research

∙ 03/28/2022

X-Pool: Cross-Modal Language-Video Attention for Text-Video Retrieval

In text-video retrieval, the objective is to learn a cross-modal similar...

0 Satya Krishna Gorti, et al. ∙

research

∙ 03/19/2022

DiSECt: A Differentiable Simulator for Parameter Inference and Control in Robotic Cutting

Robotic cutting of soft materials is critical for applications such as f...

6 Eric Heiden, et al. ∙

research

∙ 02/23/2022

Pessimistic Bootstrapping for Uncertainty-Driven Offline Reinforcement Learning

Offline Reinforcement Learning (RL) aims to learn policies from previous...

5 Chenjia Bai, et al. ∙

research

∙ 11/02/2021

Koopman Q-learning: Offline Reinforcement Learning via Symmetries of Dynamics

Offline reinforcement learning leverages large datasets to train policie...

0 Matthias Weissenbacher, et al. ∙

research

∙ 10/30/2021

Convergence and Optimality of Policy Gradient Methods in Weakly Smooth Settings

Policy gradient methods have been frequently applied to problems in cont...

0 Matthew Shunshi Zhang, et al. ∙

research

∙ 10/27/2021

Reinforcement Learning in Factored Action Spaces using Tensor Decompositions

We present an extended abstract for the previously published work TESSER...

4 Anuj Mahajan, et al. ∙

research

∙ 10/20/2021

Dynamic Bottleneck for Robust Self-Supervised Exploration

Exploration methods based on pseudo-count of transitions or curiosity of...

9 Chenjia Bai, et al. ∙

research

∙ 10/05/2021

Continuous-Time Fitted Value Iteration for Robust Policies

Solving the Hamilton-Jacobi-Bellman equation is important in many domain...

1 Michael Lutter, et al. ∙

research

∙ 09/30/2021

Seeing Glass: Joint Point Cloud and Depth Completion for Transparent Objects

The basis of many object manipulation algorithms is RGB-D input. Yet, co...

0 Haoping Xu, et al. ∙

research

∙ 09/25/2021

Auditing AI models for Verified Deployment under Semantic Specifications

Auditing trained deep learning (DL) models prior to deployment is vital ...

0 Homanga Bharadhwaj, et al. ∙

research

∙ 09/10/2021

PlaTe: Visually-Grounded Planning with Transformers in Procedural Tasks

In this work, we study the problem of how to leverage instructional vide...

0 Jiankai Sun, et al. ∙

research

∙ 08/26/2021

Drop-DTW: Aligning Common Signal Between Sequences While Dropping Outliers

In this work, we consider the problem of sequence-to-sequence alignment ...

2 Nikita Dvornik, et al. ∙

research

∙ 08/22/2021

Transferring Dexterous Manipulation from GPU Simulation to a Remote Real-World TriFinger

We present a system for learning a challenging dexterous manipulation ta...

3 Arthur Allshire, et al. ∙

research

∙ 07/14/2021

Centralized Model and Exploration Policy for Multi-Agent RL

Reinforcement learning (RL) in partially observable, fully cooperative m...

0 Qizhen Zhang, et al. ∙

research

∙ 07/12/2021

A Persistent Spatial Semantic Representation for High-level Natural Language Instruction Execution

Natural language provides an accessible and expressive interface to spec...

18 Valts Blukis, et al. ∙

research

∙ 07/06/2021

Learning Latent Actions to Control Assistive Robots

Assistive robot arms enable people with disabilities to conduct everyday...

0 Dylan P. Losey, et al. ∙

research

∙ 06/28/2021

GIFT: Generalizable Interaction-aware Functional Tool Affordances without Labels

Tool use requires reasoning about the fit between an object's affordance...

0 Dylan Turpin, et al. ∙

research

∙ 06/08/2021

Neural Hybrid Automata: Learning Dynamics with Multiple Modes and Stochastic Transitions

Effective control and prediction of dynamical systems often require appr...

0 Michael Poli, et al. ∙

research

∙ 05/31/2021

Tesseract: Tensorised Actors for Multi-Agent Reinforcement Learning

Reinforcement Learning in large action spaces is a challenging problem. ...

33 Anuj Mahajan, et al. ∙

research

∙ 05/25/2021

DiSECt: A Differentiable Simulation Engine for Autonomous Robotic Cutting

Robotic cutting of soft materials is critical for applications such as f...

0 Eric Heiden, et al. ∙

research

∙ 05/25/2021

Robust Value Iteration for Continuous Control Tasks

When transferring a control policy from simulation to a physical system,...

2 Michael Lutter, et al. ∙

research

∙ 05/18/2021

Coach-Player Multi-Agent Reinforcement Learning for Dynamic Team Composition

In real-world multiagent systems, agents with different capabilities may...

1 Bo Liu, et al. ∙

research

∙ 05/13/2021

Principled Exploration via Optimistic Bootstrapping and Backward Induction

One principled approach for provably efficient exploration is incorporat...

3 Chenjia Bai, et al. ∙

research

∙ 05/10/2021

Value Iteration in Continuous Actions, States and Time

Classical value iteration approaches are not applicable to environments ...

4 Michael Lutter, et al. ∙

research

∙ 04/20/2021

GLiDE: Generalizable Quadrupedal Locomotion in Diverse Environments with a Centroidal Model

Model-free reinforcement learning (RL) for legged locomotion commonly re...

6 Zhaoming Xie, et al. ∙

research

∙ 03/29/2021

LASER: Learning a Latent Action Space for Efficient Reinforcement Learning

The process of learning a manipulation task depends strongly on the acti...

0 Arthur Allshire, et al. ∙

research

∙ 03/18/2021

Articulated Object Interaction in Unknown Scenes with Whole-Body Mobile Manipulation

A kitchen assistant needs to operate human-scale objects, such as cabine...

6 Mayank Mittal, et al. ∙

Animesh Garg

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