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Efficient and Interpretable Robot Manipulation with Graph Neural Networks


Feb 25, 2021
Yixin Lin, Austin S. Wang, Akshara Rai


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Learning Navigation Skills for Legged Robots with Learned Robot Embeddings


Nov 24, 2020
Joanne Truong, Denis Yarats, Tianyu Li, Franziska Meier, Sonia Chernova, Dhruv Batra, Akshara Rai


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Leveraging Forward Model Prediction Error for Learning Control


Nov 07, 2020
Sarah Bechtle, Bilal Hammoud, Akshara Rai, Franziska Meier, Ludovic Righetti


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Model-Based Inverse Reinforcement Learning from Visual Demonstrations


Oct 18, 2020
Neha Das, Sarah Bechtle, Todor Davchev, Dinesh Jayaraman, Akshara Rai, Franziska Meier

* Accepted at the 4th Conference on Robotic Learning (CoRL 2020), Cambridge MA, USA 

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Planning in Learned Latent Action Spaces for Generalizable Legged Locomotion


Sep 18, 2020
Tianyu Li, Roberto Calandra, Deepak Pathak, Yuandong Tian, Franziska Meier, Akshara Rai


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Learning State-Dependent Losses for Inverse Dynamics Learning


Mar 12, 2020
Kristen Morse, Neha Das, Yixin Lin, Austin Wang, Akshara Rai, Franziska Meier

* 9 pages, 8 figures, submitted to IROS 2020, Kristen Morse and Neha Das had equal contribution 

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Encoding Physical Constraints in Differentiable Newton-Euler Algorithm


Feb 19, 2020
Giovanni Sutanto, Austin S. Wang, Yixin Lin, Mustafa Mukadam, Gaurav Sukhatme, Akshara Rai, Franziska Meier

* 10 pages (i.e. 8 pages of technical content and 2 pages of the Bibliography/References), submitted and currently under review for publication at the 2nd Learning for Dynamics and Control (L4DC) Conference, year 2020 

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Re-Examining Linear Embeddings for High-Dimensional Bayesian Optimization


Jan 31, 2020
Benjamin Letham, Roberto Calandra, Akshara Rai, Eytan Bakshy


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Learning Generalizable Locomotion Skills with Hierarchical Reinforcement Learning


Sep 26, 2019
Tianyu Li, Nathan Lambert, Roberto Calandra, Franziska Meier, Akshara Rai

* Submitted to 2020 ICRA 

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Bayesian Optimization in Variational Latent Spaces with Dynamic Compression


Jul 10, 2019
Rika Antonova, Akshara Rai, Tianyu Li, Danica Kragic

* (Rika Antonova and Akshara Rai contributed equally) 

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Curious iLQR: Resolving Uncertainty in Model-based RL


Apr 15, 2019
Sarah Bechtle, Akshara Rai, Yixin Lin, Ludovic Righetti, Franziska Meier


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Using Deep Reinforcement Learning to Learn High-Level Policies on the ATRIAS Biped


Sep 28, 2018
Tianyu Li, Akshara Rai, Hartmut Geyer, Christopher G. Atkeson

* Submitted to 2019 IEEE International Conference on Robotics and Automation 

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Using Simulation to Improve Sample-Efficiency of Bayesian Optimization for Bipedal Robots


May 07, 2018
Akshara Rai, Rika Antonova, Franziska Meier, Christopher G. Atkeson

* The first two authors made equal contributions 

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Deep Kernels for Optimizing Locomotion Controllers


Nov 08, 2017
Rika Antonova, Akshara Rai, Christopher G. Atkeson

* PMLR 78:47-56 (2017) 
* (Rika Antonova and Akshara Rai contributed equally) 

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Bayesian Optimization Using Domain Knowledge on the ATRIAS Biped


Sep 18, 2017
Akshara Rai, Rika Antonova, Seungmoon Song, William Martin, Hartmut Geyer, Christopher G. Atkeson

* 8 pages, submitted to IEEE International Conference on Robotics and Automation 2018 

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Learning Feedback Terms for Reactive Planning and Control


Mar 03, 2017
Akshara Rai, Giovanni Sutanto, Stefan Schaal, Franziska Meier

* 8 pages, accepted to be published at ICRA 2017 conference 

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Sample Efficient Optimization for Learning Controllers for Bipedal Locomotion


Oct 15, 2016
Rika Antonova, Akshara Rai, Christopher G. Atkeson

* To appear in International Conference on Humanoid Robots (Humanoids '2016), IEEE-RAS. (Rika Antonova and Akshara Rai contributed equally) 

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