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09/15/2023
Compositional Foundation Models for Hierarchical Planning
To make effective decisions in novel environments with long-horizon goal...
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07/24/2023
Parallel Q-Learning: Scaling Off-policy Reinforcement Learning under Massively Parallel Simulation
Reinforcement learning is time-consuming for complex tasks due to the ne...
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07/20/2023
Breadcrumbs to the Goal: Goal-Conditioned Exploration from Human-in-the-Loop Feedback
Exploration and reward specification are fundamental and intertwined cha...
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07/12/2023
Diagnosis, Feedback, Adaptation: A Human-in-the-Loop Framework for Test-Time Policy Adaptation
Policies often fail due to distribution shift – changes in the state and...
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07/11/2023
Neuro-Inspired Efficient Map Building via Fragmentation and Recall
Animals and robots navigate through environments by building and refinin...
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07/10/2023
Shelving, Stacking, Hanging: Relational Pose Diffusion for Multi-modal Rearrangement
We propose a system for rearranging objects in a scene to achieve a desi...
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07/06/2023
TGRL: An Algorithm for Teacher Guided Reinforcement Learning
Learning from rewards (i.e., reinforcement learning or RL) and learning ...
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06/22/2023
Harnessing Mixed Offline Reinforcement Learning Datasets via Trajectory Weighting
Most offline reinforcement learning (RL) algorithms return a target poli...
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05/15/2023
Straightening Out the Straight-Through Estimator: Overcoming Optimization Challenges in Vector Quantized Networks
This work examines the challenges of training neural networks using vect...
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04/27/2023
Learning to Extrapolate: A Transductive Approach
Machine learning systems, especially with overparameterized deep neural ...
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04/03/2023
DribbleBot: Dynamic Legged Manipulation in the Wild
DribbleBot (Dexterous Ball Manipulation with a Legged Robot) is a legged...
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04/02/2023
Constructive Assimilation: Boosting Contrastive Learning Performance through View Generation Strategies
Transformations based on domain expertise (expert transformations), such...
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03/23/2023
TactoFind: A Tactile Only System for Object Retrieval
We study the problem of object retrieval in scenarios where visual sensi...
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02/27/2023
Statistical Learning under Heterogenous Distribution Shift
This paper studies the prediction of a target 𝐳 from a pair of random va...
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02/06/2023
Geometry of contact: contact planning for multi-legged robots via spin models duality
Contact planning is crucial in locomoting systems.Specifically, appropri...
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02/03/2023
Aligning Robot and Human Representations
To act in the world, robots rely on a representation of salient task asp...
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12/06/2022
Walk These Ways: Tuning Robot Control for Generalization with Multiplicity of Behavior
Learned locomotion policies can rapidly adapt to diverse environments si...
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11/28/2022
Is Conditional Generative Modeling all you need for Decision-Making?
Recent improvements in conditional generative modeling have made it poss...
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11/24/2022
Discovering Generalizable Spatial Goal Representations via Graph-based Active Reward Learning
In this work, we consider one-shot imitation learning for object rearran...
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11/17/2022
SE(3)-Equivariant Relational Rearrangement with Neural Descriptor Fields
We present a method for performing tasks involving spatial relations bet...
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11/14/2022
Redeeming Intrinsic Rewards via Constrained Optimization
State-of-the-art reinforcement learning (RL) algorithms typically use ra...
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10/06/2022
Distributionally Adaptive Meta Reinforcement Learning
Meta-reinforcement learning algorithms provide a data-driven way to acqu...
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08/18/2022
Stable Object Reorientation using Contact Plane Registration
We present a system for accurately predicting stable orientations for di...
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07/05/2022
Offline RL Policies Should be Trained to be Adaptive
Offline RL algorithms must account for the fact that the dataset they ar...
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04/14/2022
An Integrated Design Pipeline for Tactile Sensing Robotic Manipulators
Traditional robotic manipulator design methods require extensive, time-c...
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03/29/2022
Topological Experience Replay
State-of-the-art deep Q-learning methods update Q-values using state tra...
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03/14/2022
Stubborn: A Strong Baseline for Indoor Object Navigation
We present a strong baseline that surpasses the performance of previousl...
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12/09/2021
Neural Descriptor Fields: SE(3)-Equivariant Object Representations for Manipulation
We present Neural Descriptor Fields (NDFs), an object representation tha...
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11/04/2021
A System for General In-Hand Object Re-Orientation
In-hand object reorientation has been a challenging problem in robotics ...
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10/28/2021
Learning to Jump from Pixels
Today's robotic quadruped systems can robustly walk over a diverse range...
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07/15/2021
An End-to-End Differentiable Framework for Contact-Aware Robot Design
The current dominant paradigm for robotic manipulation involves two sepa...
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07/08/2021
3D Neural Scene Representations for Visuomotor Control
Humans have a strong intuitive understanding of the 3D environment aroun...
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04/01/2021
Residual Model Learning for Microrobot Control
A majority of microrobots are constructed using compliant materials that...
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03/18/2021
The Low-Rank Simplicity Bias in Deep Networks
Modern deep neural networks are highly over-parameterized compared to th...
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11/16/2020
A Long Horizon Planning Framework for Manipulating Rigid Pointcloud Objects
We present a framework for solving long-horizon planning problems involv...
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10/26/2020
OPAL: Offline Primitive Discovery for Accelerating Offline Reinforcement Learning
Reinforcement learning (RL) has achieved impressive performance in a var...
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07/09/2020
AdaScale SGD: A User-Friendly Algorithm for Distributed Training
When using large-batch training to speed up stochastic gradient descent,...
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12/23/2019
Towards Practical Multi-Object Manipulation using Relational Reinforcement Learning
Learning robotic manipulation tasks using reinforcement learning with sp...
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02/14/2019
Superposition of many models into one
We present a method for storing multiple models within a single set of p...
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06/21/2018
Learning Instance Segmentation by Interaction
We present an approach for building an active agent that learns to segme...
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04/23/2018
Zero-Shot Visual Imitation
The current dominant paradigm for imitation learning relies on strong su...
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02/28/2018
Investigating Human Priors for Playing Video Games
What makes humans so good at solving seemingly complex video games? Unli...
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06/22/2017
A Web-Deployed Computer Vision Pipeline for Automated Determination of Cardiac Structure and Function and Detection of Disease by Two-Dimensional Echocardiography
Automated cardiac image interpretation has the potential to transform cl...
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05/15/2017
Curiosity-driven Exploration by Self-supervised Prediction
In many real-world scenarios, rewards extrinsic to the agent are extreme...
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03/06/2017
Combining Self-Supervised Learning and Imitation for Vision-Based Rope Manipulation
Manipulation of deformable objects, such as ropes and cloth, is an impor...
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11/06/2016
Learning to Perform Physics Experiments via Deep Reinforcement Learning
When encountering novel objects, humans are able to infer a wide range o...
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08/30/2016
What makes ImageNet good for transfer learning?
The tremendous success of ImageNet-trained deep features on a wide range...
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06/23/2016
Learning to Poke by Poking: Experiential Learning of Intuitive Physics
We investigate an experiential learning paradigm for acquiring an intern...
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07/23/2015
Human Pose Estimation with Iterative Error Feedback
Hierarchical feature extractors such as Convolutional Networks (ConvNets...
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05/07/2015