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Disentangled Planning and Control in Vision Based Robotics via Reward Machines


Dec 28, 2020
Alberto Camacho, Jacob Varley, Deepali Jain, Atil Iscen, Dmitry Kalashnikov

* Accepted to the Deep Reinforcement Learning Workshop at Neural Information Processing Systems (2020) 

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From Pixels to Legs: Hierarchical Learning of Quadruped Locomotion


Nov 23, 2020
Deepali Jain, Atil Iscen, Ken Caluwaerts

* 4th Conference on Robot Learning (CoRL 2020), Cambridge MA, USA 

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Learning Agile Locomotion Skills with a Mentor


Nov 11, 2020
Atil Iscen, George Yu, Alejandro Escontrela, Deepali Jain, Jie Tan, Ken Caluwaerts


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Zero-Shot Terrain Generalization for Visual Locomotion Policies


Nov 11, 2020
Alejandro Escontrela, George Yu, Peng Xu, Atil Iscen, Jie Tan


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Policies Modulating Trajectory Generators


Oct 07, 2019
Atil Iscen, Ken Caluwaerts, Jie Tan, Tingnan Zhang, Erwin Coumans, Vikas Sindhwani, Vincent Vanhoucke

* In Proceedings of The 2nd Conference on Robot Learning, volume 87 of Proceedings of Machine Learning Research, pages 916-926. PMLR, 29-31 Oct 2018 

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Data Efficient Reinforcement Learning for Legged Robots


Jul 08, 2019
Yuxiang Yang, Ken Caluwaerts, Atil Iscen, Tingnan Zhang, Jie Tan, Vikas Sindhwani


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Hierarchical Reinforcement Learning for Quadruped Locomotion


May 22, 2019
Deepali Jain, Atil Iscen, Ken Caluwaerts


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When random search is not enough: Sample-Efficient and Noise-Robust Blackbox Optimization of RL Policies


Mar 07, 2019
Krzysztof Choromanski, Aldo Pacchiano, Jack Parker-Holder, Jasmine Hsu, Atil Iscen, Deepali Jain, Vikas Sindhwani


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NoRML: No-Reward Meta Learning


Mar 04, 2019
Yuxiang Yang, Ken Caluwaerts, Atil Iscen, Jie Tan, Chelsea Finn


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Optimizing Simulations with Noise-Tolerant Structured Exploration


May 20, 2018
Krzysztof Choromanski, Atil Iscen, Vikas Sindhwani, Jie Tan, Erwin Coumans


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Sim-to-Real: Learning Agile Locomotion For Quadruped Robots


May 16, 2018
Jie Tan, Tingnan Zhang, Erwin Coumans, Atil Iscen, Yunfei Bai, Danijar Hafner, Steven Bohez, Vincent Vanhoucke

* Accompanying video: https://www.youtube.com/watch?v=lUZUr7jxoqM 

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