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LASER: Learning a Latent Action Space for Efficient Reinforcement Learning

Mar 30, 2021
Arthur Allshire, Roberto Martín-Martín, Charles Lin, Shawn Manuel, Silvio Savarese, Animesh Garg

* Accepted as a conference paper at ICRA 2021. 7 pages, 8 figures 

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Articulated Object Interaction in Unknown Scenes with Whole-Body Mobile Manipulation

Mar 18, 2021
Mayank Mittal, David Hoeller, Farbod Farshidian, Marco Hutter, Animesh Garg

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S4RL: Surprisingly Simple Self-Supervision for Offline Reinforcement Learning

Mar 10, 2021
Samarth Sinha, Animesh Garg

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Learning by Watching: Physical Imitation of Manipulation Skills from Human Videos

Jan 18, 2021
Haoyu Xiong, Quanzhou Li, Yun-Chun Chen, Homanga Bharadhwaj, Samarth Sinha, Animesh Garg

* Project Website: 

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Emergent Hand Morphology and Control from Optimizing Robust Grasps of Diverse Objects

Dec 22, 2020
Xinlei Pan, Animesh Garg, Animashree Anandkumar, Yuke Zhu

* 8 pages, 5 figures, Project website: 

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C-Learning: Horizon-Aware Cumulative Accessibility Estimation

Dec 14, 2020
Panteha Naderian, Gabriel Loaiza-Ganem, Harry J. Braviner, Anthony L. Caterini, Jesse C. Cresswell, Tong Li, Animesh Garg

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Skill Transfer via Partially Amortized Hierarchical Planning

Nov 27, 2020
Kevin Xie, Homanga Bharadhwaj, Danijar Hafner, Animesh Garg, Florian Shkurti

* First two authors contributed equally. Preprint. NeurIPS 2020 Deep RL Workshop and under review 

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Action Concept Grounding Network for Semantically-Consistent Video Generation

Nov 23, 2020
Wei Yu, Wenxin Chen, Steve Easterbrook, Animesh Garg

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Solving Physics Puzzles by Reasoning about Paths

Nov 14, 2020
Augustin Harter, Andrew Melnik, Gaurav Kumar, Dhruv Agarwal, Animesh Garg, Helge Ritter

* 1st NeurIPS workshop on Interpretable Inductive Biases and Physically Structured Learning (2020) 

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Dynamics Randomization Revisited:A Case Study for Quadrupedal Locomotion

Nov 04, 2020
Zhaoming Xie, Xingye Da, Michiel van de Panne, Buck Babich, Animesh Garg

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Conservative Safety Critics for Exploration

Oct 27, 2020
Homanga Bharadhwaj, Aviral Kumar, Nicholas Rhinehart, Sergey Levine, Florian Shkurti, Animesh Garg

* Preprint. Under review 

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D2RL: Deep Dense Architectures in Reinforcement Learning

Oct 19, 2020
Samarth Sinha, Homanga Bharadhwaj, Aravind Srinivas, Animesh Garg

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Learning a Contact-Adaptive Controller for Robust, Efficient Legged Locomotion

Oct 05, 2020
Xingye Da, Zhaoming Xie, David Hoeller, Byron Boots, Animashree Anandkumar, Yuke Zhu, Buck Babich, Animesh Garg

* supplementary video: 

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OCEAN: Online Task Inference for Compositional Tasks with Context Adaptation

Aug 17, 2020
Hongyu Ren, Yuke Zhu, Jure Leskovec, Anima Anandkumar, Animesh Garg

* UAI 2020 

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Visuomotor Mechanical Search: Learning to Retrieve Target Objects in Clutter

Aug 13, 2020
Andrey Kurenkov, Joseph Taglic, Rohun Kulkarni, Marcus Dominguez-Kuhne, Animesh Garg, Roberto Martín-Martín, Silvio Savarese

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Counterfactual Data Augmentation using Locally Factored Dynamics

Jul 06, 2020
Silviu Pitis, Elliot Creager, Animesh Garg

* 12 pages (+12 appendix). Code available at \url{

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Causal Discovery in Physical Systems from Videos

Jul 02, 2020
Yunzhu Li, Antonio Torralba, Animashree Anandkumar, Dieter Fox, Animesh Garg

* Project page: 

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De-anonymization of authors through arXiv submissions during double-blind review

Jul 01, 2020
Homanga Bharadhwaj, Dylan Turpin, Animesh Garg, Ashton Anderson

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Maximum Entropy Models for Fast Adaptation

Jun 30, 2020
Samarth Sinha, Anirudh Goyal, Animesh Garg

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Experience Replay with Likelihood-free Importance Weights

Jun 23, 2020
Samarth Sinha, Jiaming Song, Animesh Garg, Stefano Ermon

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LEAF: Latent Exploration Along the Frontier

Jun 18, 2020
Homanga Bharadhwaj, Animesh Garg, Florian Shkurti

* Preprint. Preliminary report 

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Guided Uncertainty-Aware Policy Optimization: Combining Learning and Model-Based Strategies for Sample-Efficient Policy Learning

May 26, 2020
Michelle A. Lee, Carlos Florensa, Jonathan Tremblay, Nathan Ratliff, Animesh Garg, Fabio Ramos, Dieter Fox

* International Conference in Robotics and Automation 2020 

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Dynamics-Aware Latent Space Reachability for Exploration in Temporally-Extended Tasks

May 21, 2020
Homanga Bharadhwaj, Animesh Garg, Florian Shkurti

* Preprint. Preliminary report 

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DIBS: Diversity inducing Information Bottleneck in Model Ensembles

Mar 10, 2020
Samarth Sinha, Homanga Bharadhwaj, Anirudh Goyal, Hugo Larochelle, Animesh Garg, Florian Shkurti

* Samarth Sinha* and Homanga Bharadhwaj* contributed equally to this work. Code will be released at 

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Semi-Supervised StyleGAN for Disentanglement Learning

Mar 06, 2020
Weili Nie, Tero Karras, Animesh Garg, Shoubhik Debhath, Anjul Patney, Ankit B. Patel, Anima Anandkumar

* 20 pages, 4 tables, 18 figures 

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Curriculum By Texture

Mar 03, 2020
Samarth Sinha, Animesh Garg, Hugo Larochelle

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Unsupervised Disentanglement of Pose, Appearance and Background from Images and Videos

Jan 26, 2020
Aysegul Dundar, Kevin J. Shih, Animesh Garg, Robert Pottorf, Andrew Tao, Bryan Catanzaro

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