Ashwin Balakrishna | DeepAI

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∙ 10/14/2022

Monte Carlo Augmented Actor-Critic for Sparse Reward Deep Reinforcement Learning from Suboptimal Demonstrations

Providing densely shaped reward functions for RL algorithms is often exc...

17 Albert Wilcox, et al. ∙

∙ 07/02/2022

Learning Switching Criteria for Sim2Real Transfer of Robotic Fabric Manipulation Policies

Simulation-to-reality transfer has emerged as a popular and highly succe...

0 Satvik Sharma, et al. ∙

∙ 01/25/2022

Dynamics-Aware Comparison of Learned Reward Functions

The ability to learn reward functions plays an important role in enablin...

0 Blake Wulfe, et al. ∙

∙ 12/07/2021

MESA: Offline Meta-RL for Safe Adaptation and Fault Tolerance

Safe exploration is critical for using reinforcement learning (RL) in ri...

19 Michael Luo, et al. ∙

∙ 11/29/2021

LEGS: Learning Efficient Grasp Sets for Exploratory Grasping

Previous work defined Exploratory Grasping, where a robot iteratively gr...

0 Letian Fu, et al. ∙

∙ 09/17/2021

ThriftyDAgger: Budget-Aware Novelty and Risk Gating for Interactive Imitation Learning

Effective robot learning often requires online human feedback and interv...

7 Ryan Hoque, et al. ∙

∙ 07/13/2021

Kit-Net: Self-Supervised Learning to Kit Novel 3D Objects into Novel 3D Cavities

In industrial part kitting, 3D objects are inserted into cavities for tr...

4 Shivin Devgon, et al. ∙

∙ 07/10/2021

LS3: Latent Space Safe Sets for Long-Horizon Visuomotor Control of Iterative Tasks

Reinforcement learning (RL) algorithms have shown impressive success in ...

21 Albert Wilcox, et al. ∙

∙ 06/29/2021

Untangling Dense Non-Planar Knots by Learning Manipulation Features and Recovery Policies

Robot manipulation for untangling 1D deformable structures such as ropes...

0 Priya Sundaresan, et al. ∙

∙ 06/11/2021

Policy Gradient Bayesian Robust Optimization for Imitation Learning

The difficulty in specifying rewards for many real-world problems has le...

17 Zaynah Javed, et al. ∙

∙ 06/04/2021

Disentangling Dense Multi-Cable Knots

Disentangling two or more cables requires many steps to remove crossings...

7 Vainavi Viswanath, et al. ∙

∙ 05/29/2021

Orienting Novel 3D Objects Using Self-Supervised Learning of Rotation Transforms

Orienting objects is a critical component in the automation of many pack...

7 Shivin Devgon, et al. ∙

∙ 03/31/2021

LazyDAgger: Reducing Context Switching in Interactive Imitation Learning

Corrective interventions while a robot is learning to automate a task pr...

6 Ryan Hoque, et al. ∙

∙ 02/19/2021

VisuoSpatial Foresight for Physical Sequential Fabric Manipulation

Robotic fabric manipulation has applications in home robotics, textiles,...

6 Ryan Hoque, et al. ∙

∙ 11/11/2020

Accelerating Grasp Exploration by Leveraging Learned Priors

The ability of robots to grasp novel objects has industry applications i...

0 Han Yu Li, et al. ∙

∙ 11/11/2020

Exploratory Grasping: Asymptotically Optimal Algorithms for Grasping Challenging Polyhedral Objects

There has been significant recent work on data-driven algorithms for lea...

6 Michael Danielczuk, et al. ∙

∙ 11/10/2020

Untangling Dense Knots by Learning Task-Relevant Keypoints

Untangling ropes, wires, and cables is a challenging task for robots due...

4 Jennifer Grannen, et al. ∙

∙ 10/29/2020

Recovery RL: Safe Reinforcement Learning with Learned Recovery Zones

Safety remains a central obstacle preventing widespread use of RL in the...

15 Brijen Thananjeyan, et al. ∙

∙ 10/09/2020

MMGSD: Multi-Modal Gaussian Shape Descriptors for Correspondence Matching in 1D and 2D Deformable Objects

We explore learning pixelwise correspondences between images of deformab...

1 Aditya Ganapathi, et al. ∙

∙ 03/28/2020

Learning to Smooth and Fold Real Fabric Using Dense Object Descriptors Trained on Synthetic Color Images

Robotic fabric manipulation is challenging due to the infinite dimension...

15 Aditya Ganapathi, et al. ∙

∙ 03/19/2020

VisuoSpatial Foresight for Multi-Step, Multi-Task Fabric Manipulation

Robotic fabric manipulation has applications in cloth and cable manageme...

17 Ryan Hoque, et al. ∙

∙ 03/03/2020

Learning Rope Manipulation Policies Using Dense Object Descriptors Trained on Synthetic Depth Data

Robotic manipulation of deformable 1D objects such as ropes, cables, and...

3 Priya Sundaresan, et al. ∙

∙ 03/03/2020

ABC-LMPC: Safe Sample-Based Learning MPC for Stochastic Nonlinear Dynamical Systems with Adjustable Boundary Conditions

Sample-based learning model predictive control (LMPC) strategies have re...

0 Brijen Thananjeyan, et al. ∙

∙ 09/23/2019

Deep Imitation Learning of Sequential Fabric Smoothing Policies

Sequential pulling policies to flatten and smooth fabrics have applicati...

0 Daniel Seita, et al. ∙

∙ 07/08/2019

On-Policy Robot Imitation Learning from a Converging Supervisor

Existing on-policy imitation learning algorithms, such as DAgger, assume...

6 Ashwin Balakrishna, et al. ∙

∙ 05/31/2019

Extending Deep Model Predictive Control with Safety Augmented Value Estimation from Demonstrations

Reinforcement learning (RL) for robotics is challenging due to the diffi...

19 Brijen Thananjeyan, et al. ∙

∙ 03/04/2019

Mechanical Search: Multi-Step Retrieval of a Target Object Occluded by Clutter

When operating in unstructured environments such as warehouses, homes, a...

0 Michael Danielczuk, et al. ∙

∙ 04/02/2018

Predicting Electric Vehicle Charging Station Usage: Using Machine Learning to Estimate Individual Station Statistics from Physical Configurations of Charging Station Networks

Electric vehicles (EVs) have been gaining popularity due to their enviro...

0 Anshul Ramachandran, et al. ∙

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