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Learning to Localize, Grasp, and Hand Over Unmodified Surgical Needles


Dec 08, 2021
Albert Wilcox, Justin Kerr, Brijen Thananjeyan, Jeffrey Ichnowski, Minho Hwang, Samuel Paradis, Danyal Fer, Ken Goldberg

* 8 pages, 7 figures. First two authors contributed equally 

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


Sep 17, 2021
Ryan Hoque, Ashwin Balakrishna, Ellen Novoseller, Albert Wilcox, Daniel S. Brown, Ken Goldberg

* CoRL 2021 Oral 

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


Jul 10, 2021
Albert Wilcox, Ashwin Balakrishna, Brijen Thananjeyan, Joseph E. Gonzalez, Ken Goldberg

* Preprint, Under Review. First two authors contributed equally 

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Learning Accurate Long-term Dynamics for Model-based Reinforcement Learning


Dec 16, 2020
Nathan O. Lambert, Albert Wilcox, Howard Zhang, Kristofer S. J. Pister, Roberto Calandra

* 8 pages, +2 pages appendix 

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