CoRL

Exploratory Grasping: Asymptotically Optimal Algorithms for Grasping Challenging Polyhedral Objects

Michael Danielczuk, Ashwin Balakrishna, Daniel S. Brown, Shivin Devgon, Ken Goldberg

Comments Conference on Robot Learning (CoRL) 2020. First two authors contributed equally

Task-Relevant Adversarial Imitation Learning

Konrad Zolna, Scott Reed, Alexander Novikov, Sergio Gomez Colmenarejo, David Budden, Serkan Cabi, Misha Denil, Nando de Freitas, Ziyu Wang

Comments Accepted to CoRL 2020 (see presentation here: https://youtu.be/ZgQvFGuEgFU )

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 H. Hsu

Comments Accepted to CoRL 2020

Learning to Communicate and Correct Pose Errors

Nicholas Vadivelu, Mengye Ren, James Tu, Jingkang Wang, Raquel Urtasun

Comments Conference on Robot Learning (CoRL) 2020. 16 pages, 7 figures

Untangling Dense Knots by Learning Task-Relevant Keypoints

Jennifer Grannen, Priya Sundaresan, Brijen Thananjeyan, Jeffrey Ichnowski, Ashwin Balakrishna, Minho Hwang, Vainavi Viswanath, Michael Laskey, Joseph E. Gonzalez, Ken Goldberg

Comments Conference on Robot Learning (CoRL) 2020 Oral. First two authors contributed equally

Journal ref 4th Conference on Robot Learning (CoRL 2020)

Robust Quadrupedal Locomotion on Sloped Terrains: A Linear Policy Approach

Kartik Paigwar, Lokesh Krishna, Sashank Tirumala, Naman Khetan, Aditya Sagi, Ashish Joglekar, Shalabh Bhatnagar, Ashitava Ghosal, Bharadwaj Amrutur, Shishir Kolathaya

Comments Accepted in 4th Conference on Robot Learning 2020, MIT, USA

Multiagent Rollout and Policy Iteration for POMDP with Application to Multi-Robot Repair Problems

Sushmita Bhattacharya, Siva Kailas, Sahil Badyal, Stephanie Gil, Dimitri Bertsekas

Comments 8 pages + 3 pages appendix + 9 figures + 3 tables, accepted in Conference on Robot Learning

Uncertainty-Aware Constraint Learning for Adaptive Safe Motion Planning from Demonstrations

Glen Chou, Necmiye Ozay, Dmitry Berenson

Comments 4th Conference on Robot Learning (CoRL 2020)

Learning Hybrid Control Barrier Functions from Data

Lars Lindemann, Haimin Hu, Alexander Robey, Hanwen Zhang, Dimos V. Dimarogonas, Stephen Tu, Nikolai Matni

Comments 27 pages, Conference on Robot Learning 2020

Multimodal Trajectory Prediction via Topological Invariance for Navigation at Uncontrolled Intersections

Junha Roh, Christoforos Mavrogiannis, Rishabh Madan, Dieter Fox, Siddhartha S. Srinivasa

Comments Preprint of a paper with the same title, accepted to the Conference on Robot Learning 2020

Sim-to-Real Transfer for Vision-and-Language Navigation

Peter Anderson, Ayush Shrivastava, Joanne Truong, Arjun Majumdar, Devi Parikh, Dhruv Batra, Stefan Lee

Comments CoRL 2020

Unsupervised Monocular Depth Learning in Dynamic Scenes

Hanhan Li, Ariel Gordon, Hang Zhao, Vincent Casser, Anelia Angelova

Comments Accepted at 4th Conference on Robot Learning (CoRL 2020)

Sampling-based Reachability Analysis: A Random Set Theory Approach with Adversarial Sampling

Thomas Lew, Marco Pavone

Comments In Conference on Robot Learning (CoRL) 2020

Action-Based Representation Learning for Autonomous Driving

Yi Xiao, Felipe Codevilla, Christopher Pal, Antonio M. Lopez

Comments This paper has been accepted to the Conference on Robot Learning (CoRL 2020)

Hardware as Policy: Mechanical and Computational Co-Optimization using Deep Reinforcement Learning

Tianjian Chen, Zhanpeng He, Matei Ciocarlie

Comments Conference on Robot Learning (CoRL) 2020

Contrastive Variational Reinforcement Learning for Complex Observations

Xiao Ma, Siwei Chen, David Hsu, Wee Sun Lee

Comments CoRL 2020 camera ready

CAMPs: Learning Context-Specific Abstractions for Efficient Planning in Factored MDPs

Rohan Chitnis, Tom Silver, Beomjoon Kim, Leslie Pack Kaelbling, Tomas Lozano-Perez

Comments CoRL 2020

ACNMP: Skill Transfer and Task Extrapolation through Learning from Demonstration and Reinforcement Learning via Representation Sharing

M. Tuluhan Akbulut, Erhan Oztop, M. Yunus Seker, Honghu Xue, Ahmet E. Tekden, Emre Ugur

Comments CoRL 2020

Inverting the Pose Forecasting Pipeline with SPF2: Sequential Pointcloud Forecasting for Sequential Pose Forecasting

Xinshuo Weng, Jianren Wang, Sergey Levine, Kris Kitani, Nicholas Rhinehart

Comments Published in Conference on Robot Learning (CoRL), 2020. Project webpage: http://www.xinshuoweng.com/projects/SPF2/

Model-based Reinforcement Learning for Decentralized Multiagent Rendezvous

Rose E. Wang, J. Chase Kew, Dennis Lee, Tsang-Wei Edward Lee, Tingnan Zhang, Brian Ichter, Jie Tan, Aleksandra Faust

Comments CoRL 2020. The video is available at: https://youtu.be/-ydXHUtPzWE

STReSSD: Sim-To-Real from Sound for Stochastic Dynamics

Carolyn Matl, Yashraj Narang, Dieter Fox, Ruzena Bajcsy, Fabio Ramos

Comments 25 pages, 35 figures, The Conference on Robot Learning (CoRL) 2020

Deep Reactive Planning in Dynamic Environments

Kei Ota, Devesh K. Jha, Tadashi Onishi, Asako Kanezaki, Yusuke Yoshiyasu, Yoko Sasaki, Toshisada Mariyama, Daniel Nikovski

Comments 15 pages, 5 figures. Accepted at CoRL 2020

Action-Conditional Recurrent Kalman Networks For Forward and Inverse Dynamics Learning

Vaisakh Shaj, Philipp Becker, Dieter Buchler, Harit Pandya, Niels van Duijkeren, C. James Taylor, Marc Hanheide, Gerhard Neumann

Comments Accepted to Conference On Robot Learning(CoRL), 2020

DROGON: A Trajectory Prediction Model based on Intention-Conditioned Behavior Reasoning

Chiho Choi, Srikanth Malla, Abhishek Patil, Joon Hee Choi

Comments Conference on Robot Learning (CoRL) 2020

Harnessing Distribution Ratio Estimators for Learning Agents with Quality and Diversity

Tanmay Gangwani, Jian Peng, Yuan Zhou

Comments CoRL 2020 camera-ready

Learning a Decentralized Multi-arm Motion Planner

Huy Ha, Jingxi Xu, Shuran Song

Comments CoRL 2020

Policy learning in SE(3) action spaces

Dian Wang, Colin Kohler, Robert Platt

Comments 17 pages, accepted at CoRL 2020

Auxiliary Tasks Speed Up Learning PointGoal Navigation

Joel Ye, Dhruv Batra, Erik Wijmans, Abhishek Das

Comments 8 pages. Accepted to CoRL 2020

Towards Robotic Assembly by Predicting Robust, Precise and Task-oriented Grasps

Jialiang Zhao, Daniel Troniak, Oliver Kroemer

Comments Submitted and accepted to 4th Conference on Robot Learning (CoRL2020)

CoT-AMFlow: Adaptive Modulation Network with Co-Teaching Strategy for Unsupervised Optical Flow Estimation

Hengli Wang, Rui Fan, Ming Liu

Comments 13 pages, 3 figures and 6 tables. This paper is accepted by CoRL 2020