Alex LaGrassa

Focused Adaptation of Dynamics Models for Deformable Object Manipulation

Sep 28, 2022
Peter Mitrano, Alex LaGrassa, Oliver Kroemer, Dmitry Berenson

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* Project Website: https://sites.google.com/view/focused-adaptation-dynamics/home

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Learning Model Preconditions for Planning with Multiple Models

Jun 11, 2022
Alex LaGrassa, Oliver Kroemer

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* Proceedings of the 5th Conference on Robot Learning, PMLR 164 (2022) 491-500
* Presented at Conference on Robot Learning (CoRL 2021). Revised for clarity

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Specifying and achieving goals in open uncertain robot-manipulation domains

Dec 21, 2021
Leslie Pack Kaelbling, Alex LaGrassa, Tomás Lozano-Pérez

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* Paper completed in 2019

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Search-Based Task Planning with Learned Skill Effect Models for Lifelong Robotic Manipulation

Sep 17, 2021
Jacky Liang, Mohit Sharma, Alex LaGrassa, Shivam Vats, Saumya Saxena, Oliver Kroemer

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Learning Reactive and Predictive Differentiable Controllers for Switching Linear Dynamical Models

Mar 26, 2021
Saumya Saxena, Alex LaGrassa, Oliver Kroemer

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Learning to Compose Hierarchical Object-Centric Controllers for Robotic Manipulation

Nov 13, 2020
Mohit Sharma, Jacky Liang, Jialiang Zhao, Alex LaGrassa, Oliver Kroemer

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* Accepted as Plenary Talk at CoRL'20. First two authors contributed equally. For results see https://sites.google.com/view/compositional-object-control/

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Learning Skills to Patch Plans Based on Inaccurate Models

Sep 29, 2020
Alex LaGrassa, Steven Lee, Oliver Kroemer

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* 8 pages, 10 figures, accepted to Intelligent Robots and Systems (IROS) 2020

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