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Editors: Jens Kober, Fabio Ramos, Claire Tomlin
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Learning a Decision Module by Imitating Driver’s Control Behaviors
; Proceedings of the 2020 Conference on Robot Learning, PMLR 155:1-10
Inverting the Pose Forecasting Pipeline with SPF2: Sequential Pointcloud Forecasting for Sequential Pose Forecasting
Xinshuo Weng, Jianren Wang, Sergey Levine, Kris Kitani, Nicholas Rhinehart; Proceedings of the 2020 Conference on Robot Learning, PMLR 155:11-20
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Neuro-Symbolic Program Search for Autonomous Driving Decision Module Design
Jiankai Sun, Hao Sun, Tian Han, Bolei Zhou; Proceedings of the 2020 Conference on Robot Learning, PMLR 155:21-30
LiRaNet: End-to-End Trajectory Prediction using Spatio-Temporal Radar Fusion
Meet Shah, Zhiling Huang, Ankit Laddha, Matthew Langford, Blake Barber, sida zhang, Carlos Vallespi-Gonzalez, Raquel Urtasun; Proceedings of the 2020 Conference on Robot Learning, PMLR 155:31-48
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DROGON: A Trajectory Prediction Model based on Intention-Conditioned Behavior Reasoning
Chiho Choi, Srikanth Malla, Abhishek Patil, Joon Hee Choi; Proceedings of the 2020 Conference on Robot Learning, PMLR 155:49-63
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CAMPs: Learning Context-Specific Abstractions for Efficient Planning in Factored MDPs
Rohan Chitnis, Tom Silver, Beomjoon Kim, Leslie Kaelbling, Tomas Lozano-Perez; Proceedings of the 2020 Conference on Robot Learning, PMLR 155:64-79
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Augmenting GAIL with BC for sample efficient imitation learning
Rohit Jena, Changliu Liu, Katia Sycara; Proceedings of the 2020 Conference on Robot Learning, PMLR 155:80-90
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From pixels to legs: Hierarchical learning of quadruped locomotion
Deepali Jain, Ken Caluwaerts, Atil Iscen; Proceedings of the 2020 Conference on Robot Learning, PMLR 155:91-102
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Learning a Decentralized Multi-Arm Motion Planner
Huy Ha, Jingxi Xu, Shuran Song; Proceedings of the 2020 Conference on Robot Learning, PMLR 155:103-114
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SelfVoxeLO: Self-supervised LiDAR Odometry with Voxel-based Deep Neural Networks
Yan Xu, Zhaoyang Huang, Kwan-Yee Lin, Xinge Zhu, Jianping Shi, Hujun Bao, Guofeng Zhang, Hongsheng Li; Proceedings of the 2020 Conference on Robot Learning, PMLR 155:115-125
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Learning 3D Dynamic Scene Representations for Robot Manipulation
Zhenjia Xu, Zhanpeng He, Jiajun Wu, Shuran Song; Proceedings of the 2020 Conference on Robot Learning, PMLR 155:126-142
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CoT-AMFlow: Adaptive Modulation Network with Co-Teaching Strategy for Unsupervised Optical Flow Estimation
Hengli Wang, Rui Fan, Ming Liu; Proceedings of the 2020 Conference on Robot Learning, PMLR 155:143-155
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SAM: Squeeze-and-Mimic Networks for Conditional Visual Driving Policy Learning
Albert Zhao, Tong He, Yitao Liang, Haibin Huang, Guy Van den Broeck, Stefano Soatto; Proceedings of the 2020 Conference on Robot Learning, PMLR 155:156-175
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Fit2Form: 3D Generative Model for Robot Gripper Form Design
Huy Ha, Shubham Agrawal, Shuran Song; Proceedings of the 2020 Conference on Robot Learning, PMLR 155:176-187
Accelerating Reinforcement Learning with Learned Skill Priors
Karl Pertsch, Youngwoon Lee, Joseph Lim; Proceedings of the 2020 Conference on Robot Learning, PMLR 155:188-204
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Positive-Unlabeled Reward Learning
Danfei Xu, Misha Denil; Proceedings of the 2020 Conference on Robot Learning, PMLR 155:205-219
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GDN: A Coarse-To-Fine (C2F) Representation for End-To-End 6-DoF Grasp Detection
Kuang-Yu Jeng, Yueh-Cheng Liu, Zhe Yu Liu, Jen-Wei Wang, Ya-Liang Chang, Hung-Ting Su, Winston Hsu; Proceedings of the 2020 Conference on Robot Learning, PMLR 155:220-231
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Action-based Representation Learning for Autonomous Driving
Yi Xiao, Felipe Codevilla, Christopher Pal, Antonio Lopez; Proceedings of the 2020 Conference on Robot Learning, PMLR 155:232-246
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Task-Relevant Adversarial Imitation Learning
Konrad Zolna, Scott Reed, Alexander Novikov, Sergio Gómez Colmenarejo, David Budden, Serkan Cabi, Misha Denil, Nando de Freitas, Ziyu Wang; Proceedings of the 2020 Conference on Robot Learning, PMLR 155:247-263
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SMARTS: An Open-Source Scalable Multi-Agent RL Training School for Autonomous Driving
Ming Zhou, Jun Luo, Julian Villella, Yaodong Yang, David Rusu, Jiayu Miao, Weinan Zhang, Montgomery Alban, IMAN FADAKAR, Zheng Chen, Chongxi Huang, Ying Wen, Kimia Hassanzadeh, Daniel Graves, Zhengbang Zhu, Yihan Ni, Nhat Nguyen, Mohamed Elsayed, Haitham Ammar, Alexander Cowen-Rivers, Sanjeevan Ahilan, Zheng Tian, Daniel Palenicek, Kasra Rezaee, Peyman Yadmellat, Kun Shao, dong chen, Baokuan Zhang, Hongbo Zhang, Jianye Hao, Wulong Liu, Jun Wang; Proceedings of the 2020 Conference on Robot Learning, PMLR 155:264-285
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Reconfigurable Voxels: A New Representation for LiDAR-Based Point Clouds
Tai Wang, Xinge Zhu, Dahua Lin; Proceedings of the 2020 Conference on Robot Learning, PMLR 155:286-295
Learning Object Manipulation Skills via Approximate State Estimation from Real Videos
Vladimír Petrík, Makarand Tapaswi, Ivan Laptev, Josef Sivic; Proceedings of the 2020 Conference on Robot Learning, PMLR 155:296-312
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Integrating Egocentric Localization for More Realistic Point-Goal Navigation Agents
Samyak Datta, Oleksandr Maksymets, Judy Hoffman, Stefan Lee, Dhruv Batra, Devi Parikh; Proceedings of the 2020 Conference on Robot Learning, PMLR 155:313-328
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PLOP: Probabilistic Polynomial Objects trajectory Prediction for autonomous driving
Thibault Buhet, Emilie Wirbel, Andrei Bursuc, Xavier Perrotton; Proceedings of the 2020 Conference on Robot Learning, PMLR 155:329-338
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Reinforcement Learning with Videos: Combining Offline Observations with Interaction
Karl Schmeckpeper, Oleh Rybkin, Kostas Daniilidis, Sergey Levine, Chelsea Finn; Proceedings of the 2020 Conference on Robot Learning, PMLR 155:339-354
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Learning Obstacle Representations for Neural Motion Planning
Robin STRUDEL, Ricardo Garcia Pinel, Justin Carpentier, Jean-Paul Laumond, Ivan Laptev, Cordelia Schmid; Proceedings of the 2020 Conference on Robot Learning, PMLR 155:355-364
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CLOUD: Contrastive Learning of Unsupervised Dynamics
Jianren Wang, Yujie Lu, Hang Zhao; Proceedings of the 2020 Conference on Robot Learning, PMLR 155:365-376
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Exploratory Grasping: Asymptotically Optimal Algorithms for Grasping Challenging Polyhedral Objects
Michael Danielczuk, Ashwin Balakrishna, Daniel Brown, Ken Goldberg; Proceedings of the 2020 Conference on Robot Learning, PMLR 155:377-393
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Attention-Privileged Reinforcement Learning
Sasha Salter, Dushyant Rao, Markus Wulfmeier, Raia Hadsell, Ingmar Posner; Proceedings of the 2020 Conference on Robot Learning, PMLR 155:394-408
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One Thousand and One Hours: Self-driving Motion Prediction Dataset
John Houston, Guido Zuidhof, Luca Bergamini, Yawei Ye, Long Chen, Ashesh Jain, Sammy Omari, Vladimir Iglovikov, Peter Ondruska; Proceedings of the 2020 Conference on Robot Learning, PMLR 155:409-418
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Recovering and Simulating Pedestrians in the Wild
Ze Yang, Sivabalan Manivasagam, Ming Liang, Bin Yang, Wei-Chiu Ma, Raquel Urtasun; Proceedings of the 2020 Conference on Robot Learning, PMLR 155:419-431
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SoftGym: Benchmarking Deep Reinforcement Learning for Deformable Object Manipulation
Xingyu Lin, Yufei Wang, Jake Olkin, David Held; Proceedings of the 2020 Conference on Robot Learning, PMLR 155:432-448
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S3K: Self-Supervised Semantic Keypoints for Robotic Manipulation via Multi-View Consistency
Mel Vecerik, Jean-Baptiste Regli, Oleg Sushkov, David Barker, Rugile Pevceviciute, Thomas Rothörl, Raia Hadsell, Lourdes Agapito, Jonathan Scholz; Proceedings of the 2020 Conference on Robot Learning, PMLR 155:449-460
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Learning RGB-D Feature Embeddings for Unseen Object Instance Segmentation
Yu Xiang, Christopher Xie, Arsalan Mousavian, Dieter Fox; Proceedings of the 2020 Conference on Robot Learning, PMLR 155:461-470
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Modeling Long-horizon Tasks as Sequential Interaction Landscapes
Soeren Pirk, Karol Hausman, Alexander Toshev, Mohi Khansari; Proceedings of the 2020 Conference on Robot Learning, PMLR 155:471-484
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PixL2R: Guiding Reinforcement Learning Using Natural Language by Mapping Pixels to Rewards
Prasoon Goyal, Scott Niekum, Raymond Mooney; Proceedings of the 2020 Conference on Robot Learning, PMLR 155:485-497
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Auxiliary Tasks Speed Up Learning Point Goal Navigation
Joel Ye, Dhruv Batra, Erik Wijmans, Abhishek Das; Proceedings of the 2020 Conference on Robot Learning, PMLR 155:498-516
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Learning hierarchical relationships for object-goal navigation
Anwesan Pal, Yiding Qiu, Henrik Christensen; Proceedings of the 2020 Conference on Robot Learning, PMLR 155:517-528
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f-IRL: Inverse Reinforcement Learning via State Marginal Matching
Tianwei Ni, Harshit Sikchi, Yufei Wang, Tejus Gupta, Lisa Lee, Ben Eysenbach; Proceedings of the 2020 Conference on Robot Learning, PMLR 155:529-551
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Iterative Semi-parametric Dynamics Model Learning For Autonomous Racing
Ignat Georgiev, Christoforos Chatzikomis, Timo Voelkl, Joshua Smith, Michael Mistry; Proceedings of the 2020 Conference on Robot Learning, PMLR 155:552-563
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Learning Predictive Representations for Deformable Objects Using Contrastive Estimation
Wilson Yan, Ashwin Vangipuram, Pieter Abbeel, Lerrel Pinto; Proceedings of the 2020 Conference on Robot Learning, PMLR 155:564-574
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Learning Latent Representations to Influence Multi-Agent Interaction
Annie Xie, Dylan Losey, Ryan Tolsma, Chelsea Finn, Dorsa Sadigh; Proceedings of the 2020 Conference on Robot Learning, PMLR 155:575-588
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Motion Planner Augmented Reinforcement Learning for Robot Manipulation in Obstructed Environments
Jun Yamada, Youngwoon Lee, Gautam Salhotra, Karl Pertsch, Max Pflueger, Gaurav Sukhatme, Joseph Lim, Peter Englert; Proceedings of the 2020 Conference on Robot Learning, PMLR 155:589-603
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The EMPATHIC Framework for Task Learning from Implicit Human Feedback
Yuchen Cui, Qiping Zhang, Brad Knox, Alessandro Allievi, Peter Stone, Scott Niekum; Proceedings of the 2020 Conference on Robot Learning, PMLR 155:604-626
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Range Conditioned Dilated Convolutions for Scale Invariant 3D Object Detection
Alex Bewley, Pei Sun, Thomas Mensink, Dragomir Anguelov, Cristian Sminchisescu; Proceedings of the 2020 Conference on Robot Learning, PMLR 155:627-641
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High Acceleration Reinforcement Learning for Real-World Juggling with Binary Rewards
Kai Ploeger, Michael Lutter, Jan Peters; Proceedings of the 2020 Conference on Robot Learning, PMLR 155:642-653
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Guaranteeing Safety of Learned Perception Modules via Measurement-Robust Control Barrier Functions
Sarah Dean, Andrew Taylor, Ryan Cosner, Benjamin Recht, Aaron Ames; Proceedings of the 2020 Conference on Robot Learning, PMLR 155:654-670
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Sim-to-Real Transfer for Vision-and-Language Navigation
Peter Anderson, Ayush Shrivastava, Joanne Truong, Arjun Majumdar, Devi Parikh, Dhruv Batra, Stefan Lee; Proceedings of the 2020 Conference on Robot Learning, PMLR 155:671-681
Interactive Imitation Learning in State-Space
Snehal Jauhri, Carlos Celemin, Jens Kober; Proceedings of the 2020 Conference on Robot Learning, PMLR 155:682-692
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Keypoints into the Future: Self-Supervised Correspondence in Model-Based Reinforcement Learning
Lucas Manuelli, Yunzhu Li, Pete Florence, Russ Tedrake; Proceedings of the 2020 Conference on Robot Learning, PMLR 155:693-710
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Model-based Reinforcement Learning for Decentralized Multiagent Rendezvous
Rose Wang, J. Chase Kew, Dennis Lee, Tsang-Wei Lee, Tingnan Zhang, Brian Ichter, Jie Tan, Aleksandra Faust; Proceedings of the 2020 Conference on Robot Learning, PMLR 155:711-725
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Transporter Networks: Rearranging the Visual World for Robotic Manipulation
Andy Zeng, Pete Florence, Jonathan Tompson, Stefan Welker, Jonathan Chien, Maria Attarian, Travis Armstrong, Ivan Krasin, Dan Duong, Vikas Sindhwani, Johnny Lee; Proceedings of the 2020 Conference on Robot Learning, PMLR 155:726-747
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Assisted Perception: Optimizing Observations to Communicate State
Siddharth Reddy, Sergey Levine, Anca Dragan; Proceedings of the 2020 Conference on Robot Learning, PMLR 155:748-764
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Action-Conditional Recurrent Kalman Networks For Forward and Inverse Dynamics Learning
Vaisakh Shaj, Philipp Becker, Dieter Büchler, Harit Pandya, Niels van Duijkeren, C. James Taylor, Marc Hanheide, Gerhard Neumann; Proceedings of the 2020 Conference on Robot Learning, PMLR 155:765-781
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Untangling Dense Knots by Learning Task-Relevant Keypoints
Jennifer Grannen, Priya Sundaresan, Brijen Thananjeyan, Jeffrey Ichnowski, Ashwin Balakrishna, Vainavi Viswanath, Michael Laskey, Joseph Gonzalez, Ken Goldberg; Proceedings of the 2020 Conference on Robot Learning, PMLR 155:782-800
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Safe Policy Learning for Continuous Control
Yinlam Chow, Ofir Nachum, Aleksandra Faust, Edgar Dueñez-Guzman, Mohammad Ghavamzadeh; Proceedings of the 2020 Conference on Robot Learning, PMLR 155:801-821
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Learning to Compose Hierarchical Object-Centric Controllers for Robotic Manipulation
Mohit Sharma, Jacky Liang, Jialiang Zhao, Alex Lagrassa, Oliver Kroemer; Proceedings of the 2020 Conference on Robot Learning, PMLR 155:822-844
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Relational Learning for Skill Preconditions
Mohit Sharma, Oliver Kroemer; Proceedings of the 2020 Conference on Robot Learning, PMLR 155:845-861
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Social-VRNN: One-Shot Multi-modal Trajectory Prediction for Interacting Pedestrians
Bruno Ferreira de Brito, Hai Zhu, Wei Pan, Javier Alonso-Mora; Proceedings of the 2020 Conference on Robot Learning, PMLR 155:862-872
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MuGNet: Multi-Resolution Graph Neural Network for Segmenting Large-Scale Pointclouds
Liuyue Xie, Tomotake Furuhata, Kenji Shimada; Proceedings of the 2020 Conference on Robot Learning, PMLR 155:873-882
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Learning a Contact-Adaptive Controller for Robust, Efficient Legged Locomotion
Xingye Da, Zhaoming Xie, David Hoeller, Byron Boots, Anima Anandkumar, Yuke Zhu, Buck Babich, Animesh Garg; Proceedings of the 2020 Conference on Robot Learning, PMLR 155:883-894
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TNT: Target-driven Trajectory Prediction
Hang Zhao, Jiyang Gao, Tian Lan, Chen Sun, Ben Sapp, Balakrishnan Varadarajan, Yue Shen, Yi Shen, Yuning Chai, Cordelia Schmid, Congcong Li, Dragomir Anguelov; Proceedings of the 2020 Conference on Robot Learning, PMLR 155:895-904
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Planning Paths Through Unknown Space by Imagining What Lies Therein
Yutao Han, Jacopo Banfi, Mark Campbell; Proceedings of the 2020 Conference on Robot Learning, PMLR 155:905-914
Learning Dexterous Manipulation from Suboptimal Experts
Rae Jeong, Jost Tobias Springenberg, Jackie Kay, Dan Zheng, Alexandre Galashov, Nicolas Heess, Francesco Nori; Proceedings of the 2020 Conference on Robot Learning, PMLR 155:915-934
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STReSSD: Sim-To-Real from Sound for Stochastic Dynamics
Carolyn Matl, Yashraj Narang, Dieter Fox, Ruzena Bajcsy, Fabio Ramos; Proceedings of the 2020 Conference on Robot Learning, PMLR 155:935-958
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Contrastive Variational Reinforcement Learning for Complex Observations
Xiao Ma, SIWEI CHEN, David Hsu, Wee Sun Lee; Proceedings of the 2020 Conference on Robot Learning, PMLR 155:959-972
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Universal Embeddings for Spatio-Temporal Tagging of Self-Driving Logs
Sean Segal, Eric Kee, Wenjie Luo, Abbas Sadat, Ersin Yumer, Raquel Urtasun; Proceedings of the 2020 Conference on Robot Learning, PMLR 155:973-983
Asynchronous Deep Model Reference Adaptive Control
Girish Joshi, Jasvir Virdi, Girish Chowdhary; Proceedings of the 2020 Conference on Robot Learning, PMLR 155:984-1000
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Probably Approximately Correct Vision-Based Planning using Motion Primitives
Sushant Veer, Anirudha Majumdar; Proceedings of the 2020 Conference on Robot Learning, PMLR 155:1001-1014
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Tactile Object Pose Estimation from the First Touch with Geometric Contact Rendering
Maria Bauza Villalonga, Alberto Rodriguez, Bryan Lim, Eric Valls, Theo Sechopoulos; Proceedings of the 2020 Conference on Robot Learning, PMLR 155:1015-1029
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ROLL: Visual Self-Supervised Reinforcement Learning with Object Reasoning
Yufei Wang, Narasimhan Gautham, Xingyu Lin, Brian Okorn, David Held; Proceedings of the 2020 Conference on Robot Learning, PMLR 155:1030-1048
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Sample-efficient Cross-Entropy Method for Real-time Planning
Cristina Pinneri, Shambhuraj Sawant, Sebastian Blaes, Jan Achterhold, Joerg Stueckler, Michal Rolinek, Georg Martius; Proceedings of the 2020 Conference on Robot Learning, PMLR 155:1049-1065
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Sim2Real Transfer for Deep Reinforcement Learning with Stochastic State Transition Delays
Sandeep Singh Sandha, Luis Garcia, Bharathan Balaji, Fatima Anwar, Mani Srivastava; Proceedings of the 2020 Conference on Robot Learning, PMLR 155:1066-1083
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Towards General and Autonomous Learning of Core Skills: A Case Study in Locomotion
Roland Hafner, Tim Hertweck, Philipp Kloeppner, Michael Bloesch, Michael Neunert, Markus Wulfmeier, Saran Tunyasuvunakool, Nicolas Heess, Martin Riedmiller; Proceedings of the 2020 Conference on Robot Learning, PMLR 155:1084-1099
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IV-SLAM: Introspective Vision for Simultaneous Localization and Mapping
Sadegh Rabiee, Joydeep Biswas; Proceedings of the 2020 Conference on Robot Learning, PMLR 155:1100-1109
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Learning to Walk in the Real World with Minimal Human Effort
Sehoon Ha, Peng Xu, Zhenyu Tan, Sergey Levine, Jie Tan; Proceedings of the 2020 Conference on Robot Learning, PMLR 155:1110-1120
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Generation of Realistic Images for Learning in Simulation using FeatureGAN
Nicolas Cruz, Javier Ruiz-del-Solar; Proceedings of the 2020 Conference on Robot Learning, PMLR 155:1121-1136
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Incremental learning of EMG-based control commands using Gaussian Processes
Felix Schiel, Annette Hagengruber, Jörn Vogel, Rudolph Triebel; Proceedings of the 2020 Conference on Robot Learning, PMLR 155:1137-1146
Flightmare: A Flexible Quadrotor Simulator
Yunlong Song, Selim Naji, Elia Kaufmann, Antonio Loquercio, Davide Scaramuzza; Proceedings of the 2020 Conference on Robot Learning, PMLR 155:1147-1157
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Hardware as Policy: Mechanical and Computational Co-Optimization using Deep Reinforcement Learning
Tianjian Chen, Zhanpeng He, Matei Ciocarlie; Proceedings of the 2020 Conference on Robot Learning, PMLR 155:1158-1173
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StrObe: Streaming Object Detection from LiDAR Packets
Davi Frossard, Shun Da Suo, Sergio Casas, James Tu, Raquel Urtasun; Proceedings of the 2020 Conference on Robot Learning, PMLR 155:1174-1183
Towards Robotic Assembly by Predicting Robust, Precise and Task-oriented Grasps
Jialiang Zhao, Daniel Troniak, Oliver Kroemer; Proceedings of the 2020 Conference on Robot Learning, PMLR 155:1184-1194
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Learning to Communicate and Correct Pose Errors
Nicholas Vadivelu, Mengye Ren, James Tu, Jingkang Wang, Raquel Urtasun; Proceedings of the 2020 Conference on Robot Learning, PMLR 155:1195-1210
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Visual Localization and Mapping with Hybrid SFA
Muhammad Haris, Mathias Franzius, Ute Bauer-Wersing, Sai Krishna Kaushik Karanam; Proceedings of the 2020 Conference on Robot Learning, PMLR 155:1211-1220
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EXI-Net: EXplicitly/Implicitly Conditioned Network for Multiple Environment Sim-to-Real Transfer
Takayuki Murooka, Masashi Hamaya, Felix von Drigalski, Kazutoshi Tanaka, Yoshihisa Ijiri; Proceedings of the 2020 Conference on Robot Learning, PMLR 155:1221-1230
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Self-Supervised Object-in-Gripper Segmentation from Robotic Motions
Wout Boerdijk, Martin Sundermeyer, Maximilian Durner, Rudolph Triebel; Proceedings of the 2020 Conference on Robot Learning, PMLR 155:1231-1245
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MELD: Meta-Reinforcement Learning from Images via Latent State Models
Zihao Zhao, Anusha Nagabandi, Kate Rakelly, Chelsea Finn, Sergey Levine; Proceedings of the 2020 Conference on Robot Learning, PMLR 155:1246-1261
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Learning from Suboptimal Demonstration via Self-Supervised Reward Regression
Letian Chen, Rohan Paleja, Matthew Gombolay; Proceedings of the 2020 Conference on Robot Learning, PMLR 155:1262-1277
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Stein Variational Model Predictive Control
Alexander Lambert, Fabio Ramos, Byron Boots, Dieter Fox, Adam Fishman; Proceedings of the 2020 Conference on Robot Learning, PMLR 155:1278-1297
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Learning Interactively to Resolve Ambiguity in Reference Frame Selection
Giovanni Franzese, Carlos Celemin, Jens Kober; Proceedings of the 2020 Conference on Robot Learning, PMLR 155:1298-1311
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Learning Trajectories for Visual-Inertial System Calibration via Model-based Heuristic Deep Reinforcement Learning
Le Chen, Yunke Ao, Florian Tschopp, Andrei Cramariuc, Michel Breyer, Jen Jen Chung, Roland Siegwart, Cesar Cadena; Proceedings of the 2020 Conference on Robot Learning, PMLR 155:1312-1325
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A User’s Guide to Calibrating Robotic Simulators
Bhairav Mehta, Ankur Handa, Dieter Fox, Fabio Ramos; Proceedings of the 2020 Conference on Robot Learning, PMLR 155:1326-1340
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Learning Stability Certificates from Data
Nicholas Boffi, Stephen Tu, Nikolai Matni, Jean-Jacques Slotine, Vikas Sindhwani; Proceedings of the 2020 Conference on Robot Learning, PMLR 155:1341-1350
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Learning Hybrid Control Barrier Functions from Data
Lars Lindemann, Haimin Hu, Alexander Robey, Hanwen Zhang, Dimos Dimarogonas, Stephen Tu, Nikolai Matni; Proceedings of the 2020 Conference on Robot Learning, PMLR 155:1351-1370
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Map-Adaptive Goal-Based Trajectory Prediction
Lingyao Zhang, Po-Hsun Su, Jerrick Hoang, Galen Clark Haynes, Micol Marchetti-Bowick; Proceedings of the 2020 Conference on Robot Learning, PMLR 155:1371-1383
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The RobotSlang Benchmark: Dialog-guided Robot Localization and Navigation
Shurjo Banerjee, Jesse Thomason, Jason Corso; Proceedings of the 2020 Conference on Robot Learning, PMLR 155:1384-1393
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The Emergence of Adversarial Communication in Multi-Agent Reinforcement Learning
Jan Blumenkamp, Amanda Prorok; Proceedings of the 2020 Conference on Robot Learning, PMLR 155:1394-1414
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Learning rich touch representations through cross-modal self-supervision
Martina Zambelli, Yusuf Aytar, Francesco Visin, Yuxiang Zhou, Raia Hadsell; Proceedings of the 2020 Conference on Robot Learning, PMLR 155:1415-1425
Generalization Guarantees for Imitation Learning
Allen Ren, Sushant Veer, Anirudha Majumdar; Proceedings of the 2020 Conference on Robot Learning, PMLR 155:1426-1442
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Multi-Modal Anomaly Detection for Unstructured and Uncertain Environments
Tianchen Ji, Sri Theja Vuppala, Girish Chowdhary, Katherine Driggs-Campbell; Proceedings of the 2020 Conference on Robot Learning, PMLR 155:1443-1455
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Generative adversarial training of product of policies for robust and adaptive movement primitives
Emmanuel Pignat, Hakan Girgin, Sylvain Calinon; Proceedings of the 2020 Conference on Robot Learning, PMLR 155:1456-1470
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Robot Action Selection Learning via Layered Dimension Informed Program Synthesis
Jarrett Holtz, Arjun Guha, Joydeep Biswas; Proceedings of the 2020 Conference on Robot Learning, PMLR 155:1471-1480
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Policy learning in SE(3) action spaces
Dian Wang, Colin Kohler, Robert Platt; Proceedings of the 2020 Conference on Robot Learning, PMLR 155:1481-1497
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Amodal 3D Reconstruction for Robotic Manipulation via Stability and Connectivity
William Agnew, Christopher Xie, Aaron Walsman, Octavian Murad, Yubo Wang, Pedro Domingos), Siddhartha Srinivasa; Proceedings of the 2020 Conference on Robot Learning, PMLR 155:1498-1508
Learning an Expert Skill-Space for Replanning Dynamic Quadruped Locomotion over Obstacles
David Surovik, Oliwier Melon, Mathieu Geisert, Maurice Fallon, Ioannis Havoutis; Proceedings of the 2020 Conference on Robot Learning, PMLR 155:1509-1518
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Learning Certified Control Using Contraction Metric
Dawei Sun, Susmit Jha, Chuchu Fan; Proceedings of the 2020 Conference on Robot Learning, PMLR 155:1519-1539
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Same Object, Different Grasps: Data and Semantic Knowledge for Task-Oriented Grasping
Adithyavairavan Murali, Weiyu Liu, Kenneth Marino, Sonia Chernova, Abhinav Gupta; Proceedings of the 2020 Conference on Robot Learning, PMLR 155:1540-1557
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DIRL: Domain-Invariant Representation Learning for Sim-to-Real Transfer
Ajay Tanwani; Proceedings of the 2020 Conference on Robot Learning, PMLR 155:1558-1571
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Learning Hierarchical Task Networks with Preferences from Unannotated Demonstrations
Kevin Chen, Nithin Shrivatsav Srikanth, David Kent, Harish Ravichandar, Sonia Chernova; Proceedings of the 2020 Conference on Robot Learning, PMLR 155:1572-1581
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A Long Horizon Planning Framework for Manipulating Rigid Pointcloud Objects
Anthony Simeonov, Yilun Du, Beomjoon Kim, Francois Hogan, Joshua Tenenbaum, Pulkit Agrawal, Alberto Rodriguez; Proceedings of the 2020 Conference on Robot Learning, PMLR 155:1582-1601
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Volumetric Grasping Network: Real-time 6 DOF Grasp Detection in Clutter
Michel Breyer, Jen Jen Chung, Lionel Ott, Roland Siegwart, Juan Nieto; Proceedings of the 2020 Conference on Robot Learning, PMLR 155:1602-1611
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Uncertainty-Aware Constraint Learning for Adaptive Safe Motion Planning from Demonstrations
Glen Chou, Dmitry Berenson, Necmiye Ozay; Proceedings of the 2020 Conference on Robot Learning, PMLR 155:1612-1639
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Belief-Grounded Networks for Accelerated Robot Learning under Partial Observability
Hai Nguyen, Brett Daley, Xinchao Song, Christopher Amato, Robert Platt; Proceedings of the 2020 Conference on Robot Learning, PMLR 155:1640-1653
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Time-Bounded Mission Planning in Time-Varying Domains with Semi-MDPs and Gaussian Processes
Paul Duckworth, Bruno Lacerda, Nick Hawes; Proceedings of the 2020 Conference on Robot Learning, PMLR 155:1654-1668
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3D-OES: Viewpoint-Invariant Object-Factorized Environment Simulators
Hsiao-Yu Tung, Zhou Xian, Mihir Prabhudesai, Shamit Lal, Katerina Fragkiadaki; Proceedings of the 2020 Conference on Robot Learning, PMLR 155:1669-1683
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Learning Object-conditioned Exploration using Distributed Soft Actor Critic
Ayzaan Wahid, Austin Stone, Kevin Chen, Brian Ichter, Alexander Toshev; Proceedings of the 2020 Conference on Robot Learning, PMLR 155:1684-1695
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Fast robust peg-in-hole insertion with continuous visual servoing
Rasmus Haugaard, Jeppe Langaa, Christoffer Sloth, Anders Buch; Proceedings of the 2020 Conference on Robot Learning, PMLR 155:1696-1705
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Learning a natural-language to LTL executable semantic parser for grounded robotics
Christopher Wang, Candace Ross, Yen-Ling Kuo, Boris Katz, Andrei Barbu; Proceedings of the 2020 Conference on Robot Learning, PMLR 155:1706-1718
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PLAS: Latent Action Space for Offline Reinforcement Learning
Wenxuan Zhou, Sujay Bajracharya, David Held; Proceedings of the 2020 Conference on Robot Learning, PMLR 155:1719-1735
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Unsupervised Metric Relocalization Using Transform Consistency Loss
Mike Kasper, Fernando Nobre, Christoffer Heckman, Nima Keivan; Proceedings of the 2020 Conference on Robot Learning, PMLR 155:1736-1745
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MultiPoint: Cross-spectral registration of thermal and optical aerial imagery
Florian Achermann, Andrey Kolobov, Debadeepta Dey, Timo Hinzmann, Jen Jen Chung, Roland Siegwart, Nicholas Lawrance; Proceedings of the 2020 Conference on Robot Learning, PMLR 155:1746-1760
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TartanVO: A Generalizable Learning-based VO
Wenshan Wang, Yaoyu Hu, Sebastian Scherer; Proceedings of the 2020 Conference on Robot Learning, PMLR 155:1761-1772
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Soft Multicopter Control Using Neural Dynamics Identification
Yitong Deng, Yaorui Zhang, Xingzhe He, Shuqi Yang, Yunjin Tong, Michael Zhang, Daniel DiPietro, Bo Zhu; Proceedings of the 2020 Conference on Robot Learning, PMLR 155:1773-1782
Safe Optimal Control Using Stochastic Barrier Functions and Deep Forward-Backward SDEs
Marcus Pereira, Ziyi Wang, Ioannis Exarchos, Evangelos Theodorou; Proceedings of the 2020 Conference on Robot Learning, PMLR 155:1783-1801
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Diverse Plausible Shape Completions from Ambiguous Depth Images
Bradley Saund, Dmitry Berenson; Proceedings of the 2020 Conference on Robot Learning, PMLR 155:1802-1813
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Multiagent Rollout and Policy Iteration for POMDP with Application to Multi-Robot Repair Problems
Sushmita Bhattacharya, Siva Kailas, Sahil Badyal, Stephanie Gil, Dimitri Bertsekas; Proceedings of the 2020 Conference on Robot Learning, PMLR 155:1814-1828
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Few-shot Object Grounding and Mapping for Natural Language Robot Instruction Following
Valts Blukis, Ross Knepper, Yoav Artzi; Proceedings of the 2020 Conference on Robot Learning, PMLR 155:1829-1854
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Deep Latent Competition: Learning to Race Using Visual Control Policies in Latent Space
Wilko Schwarting, Tim Seyde, Igor Gilitschenski, Lucas Liebenwein, Ryan Sander, Sertac Karaman, Daniela Rus; Proceedings of the 2020 Conference on Robot Learning, PMLR 155:1855-1870
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TriFinger: An Open-Source Robot for Learning Dexterity
Manuel Wuthrich, Felix Widmaier, Felix Grimminger, Shruti Joshi, Vaibhav Agrawal, Bilal Hammoud, Majid Khadiv, Miroslav Bogdanovic, Vincent Berenz, Julian Viereck, Maximilien Naveau, Ludovic Righetti, Bernhard Schölkopf, Stefan Bauer; Proceedings of the 2020 Conference on Robot Learning, PMLR 155:1871-1882
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Learning to Improve Multi-Robot Hallway Navigation
Jin Soo Park, Brian Tsang, Harel Yedidsion, Garrett Warnell, Daehyun Kyoung, Peter Stone; Proceedings of the 2020 Conference on Robot Learning, PMLR 155:1883-1895
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ACNMP: Skill Transfer and Task Extrapolation through Learning from Demonstration and Reinforcement Learning via Representation Sharing
Mete Akbulut, Erhan Oztop, Muhammet Yunus Seker, Hh X, Ahmet Tekden, Emre Ugur; Proceedings of the 2020 Conference on Robot Learning, PMLR 155:1896-1907
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Unsupervised Monocular Depth Learning in Dynamic Scenes
Hanhan Li, Ariel Gordon, Hang Zhao, Vincent Casser, Anelia Angelova; Proceedings of the 2020 Conference on Robot Learning, PMLR 155:1908-1917
BayesRace: Learning to race autonomously using prior experience
Achin Jain, Matthew O’Kelly, Pratik Chaudhari, Manfred Morari; Proceedings of the 2020 Conference on Robot Learning, PMLR 155:1918-1929
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Model-Based Inverse Reinforcement Learning from Visual Demonstrations
Neha Das, Sarah Bechtle, Todor Davchev, Dinesh Jayaraman, Akshara Rai, Franziska Meier; Proceedings of the 2020 Conference on Robot Learning, PMLR 155:1930-1942
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Deep Reactive Planning in Dynamic Environments
Kei Ota, Devesh Jha, Tadashi Onishi, Asako Kanezaki, Yusuke Yoshiyasu, Yoko Sasaki, Toshisada Mariyama, Daniel Nikovski; Proceedings of the 2020 Conference on Robot Learning, PMLR 155:1943-1957
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Reactive motion planning with probabilisticsafety guarantees
Yuxiao Chen, Ugo Rosolia, Chuchu Fan, Aaron Ames, Richard Murray; Proceedings of the 2020 Conference on Robot Learning, PMLR 155:1958-1970
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Hierarchical Robot Navigation in Novel Environments using Rough 2-D Maps
Chengguang Xu, Christopher Amato, Lawson Wong; Proceedings of the 2020 Conference on Robot Learning, PMLR 155:1971-1991
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Visual Imitation Made Easy
Sarah Young, Dhiraj Gandhi, Shubham Tulsiani, Abhinav Gupta, Pieter Abbeel, Lerrel Pinto; Proceedings of the 2020 Conference on Robot Learning, PMLR 155:1992-2005
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DeepMPCVS: Deep Model Predictive Control for Visual Servoing
Pushkal Katara, Harish YVS, Harit Pandya, Abhinav Gupta, AadilMehdi Sanchawala, Gourav Kumar, Brojeshwar Bhowmick, Madhava Krishna; Proceedings of the 2020 Conference on Robot Learning, PMLR 155:2006-2015
Deep Reinforcement Learning with Population-Coded Spiking Neural Network for Continuous Control
Guangzhi Tang, Neelesh Kumar, Raymond Yoo, Konstantinos Michmizos; Proceedings of the 2020 Conference on Robot Learning, PMLR 155:2016-2029
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Tolerance-Guided Policy Learning for Adaptable and Transferrable Delicate Industrial Insertion
Boshen Niu, Chenxi Wang, Changliu Liu; Proceedings of the 2020 Conference on Robot Learning, PMLR 155:2030-2039
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Learning Vision-based Reactive Policies for Obstacle Avoidance
Elie Aljalbout, Ji Chen, Konstantin Ritt, Maximilian Ulmer, Sami Haddadin; Proceedings of the 2020 Conference on Robot Learning, PMLR 155:2040-2054
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Sampling-based Reachability Analysis: A Random Set Theory Approach with Adversarial Sampling
Thomas Lew, Marco Pavone; Proceedings of the 2020 Conference on Robot Learning, PMLR 155:2055-2070
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Transformers for One-Shot Visual Imitation
Sudeep Dasari, Abhinav Gupta; Proceedings of the 2020 Conference on Robot Learning, PMLR 155:2071-2084
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Self-Supervised 3D Keypoint Learning for Ego-Motion Estimation
Jiexiong Tang, Rares Ambrus, Vitor Guizilini, Sudeep Pillai, Hanme Kim, Patric Jensfelt, Adrien Gaidon; Proceedings of the 2020 Conference on Robot Learning, PMLR 155:2085-2103
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Self-Supervised Learning of Scene-Graph Representations for Robotic Sequential Manipulation Planning
Son Nguyen, Ozgur Oguz, Valentin Hartmann, Marc Toussaint; Proceedings of the 2020 Conference on Robot Learning, PMLR 155:2104-2119
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Never Stop Learning: The Effectiveness of Fine-Tuning in Robotic Reinforcement Learning
Ryan Julian, Benjamin Swanson, Gaurav Sukhatme, Sergey Levine, Chelsea Finn, Karol Hausman; Proceedings of the 2020 Conference on Robot Learning, PMLR 155:2120-2136
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Explicitly Encouraging Low Fractional Dimensional Trajectories Via Reinforcement Learning
Sean Gillen, Katie Byl; Proceedings of the 2020 Conference on Robot Learning, PMLR 155:2137-2147
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S3CNet: A Sparse Semantic Scene Completion Network for LiDAR Point Clouds
Ran Cheng, Christopher Agia, Yuan Ren, Xinhai Li, Liu Bingbing; Proceedings of the 2020 Conference on Robot Learning, PMLR 155:2148-2161
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Chaining Behaviors from Data with Model-Free Reinforcement Learning
Avi Singh, Albert Yu, Jonathan Yang, Jesse Zhang, Aviral Kumar, Sergey Levine; Proceedings of the 2020 Conference on Robot Learning, PMLR 155:2162-2177
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Differentiable Logic Layer for Rule Guided Trajectory Prediction
Xiao Li, Guy Rosman, Igor Gilitschenski, Jonathan DeCastro, Cristian-Ioan Vasile, Sertac Karaman, Daniela Rus; Proceedings of the 2020 Conference on Robot Learning, PMLR 155:2178-2194
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Attentional Separation-and-Aggregation Network for Self-supervised Depth-Pose Learning in Dynamic Scenes
Feng Gao, Jincheng Yu, Hao Shen, Yu Wang, Huazhong Yang; Proceedings of the 2020 Conference on Robot Learning, PMLR 155:2195-2205
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Harnessing Distribution Ratio Estimators for Learning Agents with Quality and Diversity
Tanmay Gangwani, Jian Peng, Yuan Zhou; Proceedings of the 2020 Conference on Robot Learning, PMLR 155:2206-2215
Multimodal Trajectory Prediction via Topological Invariance for Navigation at Uncontrolled Intersections
Junha Roh, Christoforos Mavrogiannis, Rishabh Madan, Dieter Fox, Siddhartha Srinivasa; Proceedings of the 2020 Conference on Robot Learning, PMLR 155:2216-2227
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Learning from Demonstrations using Signal Temporal Logic
Aniruddh Puranic, Jyotirmoy Deshmukh, Stefanos Nikolaidis; Proceedings of the 2020 Conference on Robot Learning, PMLR 155:2228-2242
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MATS: An Interpretable Trajectory Forecasting Representation for Planning and Control
Boris Ivanovic, Amine Elhafsi, Guy Rosman, Adrien Gaidon, Marco Pavone; Proceedings of the 2020 Conference on Robot Learning, PMLR 155:2243-2256
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Robust Quadrupedal Locomotion on Sloped Terrains: A Linear Policy Approach
Kartik Paigwar, Lokesh Krishna, sashank tirumala, naman khetan, aditya varma, ashish joglekar, Shalabh Bhatnagar, Ashitava Ghosal, Bharadwaj Amrutur, Shishir Kolathaya; Proceedings of the 2020 Conference on Robot Learning, PMLR 155:2257-2267
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Learning Predictive Models for Ergonomic Control of Prosthetic Devices
GEOFFEY CLARK, Joseph Campbell, Heni Ben Amor; Proceedings of the 2020 Conference on Robot Learning, PMLR 155:2268-2278
ContactNets: Learning Discontinuous Contact Dynamics with Smooth, Implicit Representations
Samuel Pfrommer, Mathew Halm, Michael Posa; Proceedings of the 2020 Conference on Robot Learning, PMLR 155:2279-2291
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Learning Equality Constraints for Motion Planning on Manifolds
Giovanni Sutanto, Isabel Rayas Fernández, Peter Englert, Ragesh Kumar Ramachandran, Gaurav Sukhatme; Proceedings of the 2020 Conference on Robot Learning, PMLR 155:2292-2305
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Multi-Level Structure vs. End-to-End-Learning in High-Performance Tactile Robotic Manipulation
Florian Voigt, Lars Johannsmeier, Sami Haddadin; Proceedings of the 2020 Conference on Robot Learning, PMLR 155:2306-2316
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Learning Arbitrary-Goal Fabric Folding with One Hour of Real Robot Experience
Robert Lee, Daniel Ward, Vibhavari Dasagi, Akansel Cosgun, Juxi Leitner, Peter Corke; Proceedings of the 2020 Conference on Robot Learning, PMLR 155:2317-2327
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Robust Policies via Mid-Level Visual Representations: An Experimental Study in Manipulation and Navigation
Bryan Chen, Alexander Sax, Francis Lewis, Iro Armeni, Silvio Savarese, Amir Zamir, Jitendra Malik, Lerrel Pinto; Proceedings of the 2020 Conference on Robot Learning, PMLR 155:2328-2346
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Towards Autonomous Eye Surgery by Combining Deep Imitation Learning with Optimal Control
Ji Woong Kim, Peiyao Zhang, Peter Gehlbach, Iulian Iordachita, Marin Kobilarov; Proceedings of the 2020 Conference on Robot Learning, PMLR 155:2347-2358
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Deep Phase Correlation for End-to-End Heterogeneous Sensor Measurements Matching
Zexi Chen, Xuecheng Xu, Yue Wang, Rong Xiong; Proceedings of the 2020 Conference on Robot Learning, PMLR 155:2359-2375
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