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Dynamics-Aware Comparison of Learned Reward Functions



Blake Wulfe , Ashwin Balakrishna , Logan Ellis , Jean Mercat , Rowan McAllister , Adrien Gaidon


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MESA: Offline Meta-RL for Safe Adaptation and Fault Tolerance



Michael Luo , Ashwin Balakrishna , Brijen Thananjeyan , Suraj Nair , Julian Ibarz , Jie Tan , Chelsea Finn , Ion Stoica , Ken Goldberg

* Workshop on Safe and Robust Control of Uncertain Systems at the 35th Conference on Neural Information Processing Systems (NeurIPS 2021), Online 

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LEGS: Learning Efficient Grasp Sets for Exploratory Grasping



Letian Fu , Michael Danielczuk , Ashwin Balakrishna , Daniel S. Brown , Jeffrey Ichnowski , Eugen Solowjow , Ken Goldberg


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



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

* CoRL 2021 Oral 

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Kit-Net: Self-Supervised Learning to Kit Novel 3D Objects into Novel 3D Cavities



Shivin Devgon , Jeffrey Ichnowski , Michael Danielczuk , Daniel S. Brown , Ashwin Balakrishna , Shirin Joshi , Eduardo M. C. Rocha , Eugen Solowjow , Ken Goldberg

* Conference on Automation Science and Engineering (CASE) 2021 

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



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

* Preprint, Under Review. First two authors contributed equally 

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Untangling Dense Non-Planar Knots by Learning Manipulation Features and Recovery Policies



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


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Policy Gradient Bayesian Robust Optimization for Imitation Learning



Zaynah Javed , Daniel S. Brown , Satvik Sharma , Jerry Zhu , Ashwin Balakrishna , Marek Petrik , Anca D. Dragan , Ken Goldberg

* In proceedings of the International Conference on Machine Learning (ICML) 2021 

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Disentangling Dense Multi-Cable Knots



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

* First three authors contributed equally 

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