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03/09/2023
Cherry-Picking with Reinforcement Learning
Grasping small objects surrounded by unstable or non-rigid material play...
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10/23/2022
Lazy Incremental Search for Efficient Replanning with Bounded Suboptimality Guarantees
We present a lazy incremental search algorithm, Lifelong-GLS (L-GLS), al...
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09/11/2022
Git Re-Basin: Merging Models modulo Permutation Symmetries
The success of deep learning is thanks to our ability to solve certain m...
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07/13/2022
Iterative Linear Quadratic Optimization for Nonlinear Control: Differentiable Programming Algorithmic Templates
We present the implementation of nonlinear control algorithms based on l...
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04/05/2022
Electrostatic Brakes Enable Individual Joint Control of Underactuated, Highly Articulated Robots
Highly articulated organisms serve as blueprints for incredibly dexterou...
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11/22/2021
Balancing Efficiency and Comfort in Robot-Assisted Bite Transfer
Robot-assisted feeding in household environments is challenging because ...
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05/25/2021
Lazy Lifelong Planning for Efficient Replanning in Graphs with Expensive Edge Evaluation
We present an incremental search algorithm, called Lifelong-GLS, which c...
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12/12/2020
Faster Policy Learning with Continuous-Time Gradients
We study the estimation of policy gradients for continuous-time systems ...
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11/13/2020
Grasping with Chopsticks: Combating Covariate Shift in Model-free Imitation Learning for Fine Manipulation
Billions of people use chopsticks, a simple yet versatile tool, for fine...
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09/28/2020
Amodal 3D Reconstruction for Robotic Manipulation via Stability and Connectivity
Learning-based 3D object reconstruction enables single- or few-shot esti...
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01/21/2020
Lyceum: An efficient and scalable ecosystem for robot learning
We introduce Lyceum, a high-performance computational ecosystem for robo...
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12/03/2019
Mo' States Mo' Problems: Emergency Stop Mechanisms from Observation
In many environments, only a relatively small subset of the complete sta...
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07/16/2019
Leveraging Experience in Lazy Search
Lazy graph search algorithms are efficient at solving motion planning pr...
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05/30/2019
Imitation Learning as f-Divergence Minimization
We address the problem of imitation learning with multi-modal demonstrat...
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04/04/2019
Generalized Lazy Search for Robot Motion Planning: Interleaving Search and Edge Evaluation via Event-based Toggles
Lazy search algorithms can efficiently solve problems where edge evaluat...
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04/02/2019
Improving Robot Success Detection using Static Object Data
We use static object data to improve success detection for stacking obje...
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03/06/2019
Tactical Rewind: Self-Correction via Backtracking in Vision-and-Language Navigation
We present FAST NAVIGATOR, a general framework for action decoding, whic...
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01/24/2019
The Assistive Multi-Armed Bandit
Learning preferences implicit in the choices humans make is a well studi...
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01/22/2019
Learning Configuration Space Belief Model from Collision Checks for Motion Planning
For motion planning in high dimensional configuration spaces, a signific...
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01/22/2019
Estimating Configuration Space Belief from Collision Checks for Motion Planning
For motion planning in high dimensional configuration spaces, a signific...
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10/24/2018
Sample-Efficient Learning of Nonprehensile Manipulation Policies via Physics-Based Informed State Distributions
This paper proposes a sample-efficient yet simple approach to learning c...
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05/20/2018
Balancing Shared Autonomy with Human-Robot Communication
Robotic agents that share autonomy with a human should leverage human do...
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03/13/2018
Lazy Receding Horizon A* for Efficient Path Planning in Graphs with Expensive-to-Evaluate Edges
Motion-planning problems, such as manipulation in cluttered environments...
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03/05/2018
Recurrent Predictive State Policy Networks
We introduce Recurrent Predictive State Policy (RPSP) networks, a recurr...
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01/12/2018
Planning with Trust for Human-Robot Collaboration
Trust is essential for human-robot collaboration and user adoption of au...
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11/20/2017
Bayesian Active Edge Evaluation on Expensive Graphs
Robots operate in environments with varying implicit structure. For inst...
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10/18/2017
Minimizing Task Space Frechet Error via Efficient Incremental Graph Search
We present an algorithm that generates a collision-free configuration-sp...
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10/17/2017
Generalizing Informed Sampling for Asymptotically Optimal Sampling-based Kinodynamic Planning via Markov Chain Monte Carlo
Asymptotically-optimal motion planners such as RRT* have been shown to i...
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02/24/2014