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Stein Variational Model Predictive Control

Nov 15, 2020
Alexander Lambert, Adam Fishman, Dieter Fox, Byron Boots, Fabio Ramos

* Accepted to Conference on Robot Learning (CoRL) 2020 

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Grasping with Chopsticks: Combating Covariate Shift in Model-free Imitation Learning for Fine Manipulation

Nov 13, 2020
Liyiming Ke, Jingqiang Wang, Tapomayukh Bhattacharjee, Byron Boots, Siddhartha Srinivasa

* Submitted to ICRA 2021 

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Geometric Fabrics for the Acceleration-based Design of Robotic Motion

Nov 11, 2020
Mandy Xie, Karl Van Wyk, Anqi Li, Muhammad Asif Rana, Dieter Fox, Byron Boots, Nathan Ratliff


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Quantum Tensor Networks, Stochastic Processes, and Weighted Automata

Oct 20, 2020
Siddarth Srinivasan, Sandesh Adhikary, Jacob Miller, Guillaume Rabusseau, Byron Boots


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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: https://youtu.be/JJOmFZKpYTo 

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RMPflow: A Geometric Framework for Generation of Multi-Task Motion Policies

Jul 25, 2020
Ching-An Cheng, Mustafa Mukadam, Jan Issac, Stan Birchfield, Dieter Fox, Byron Boots, Nathan Ratliff

* arXiv admin note: substantial text overlap with arXiv:1811.07049 

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Explaining Fast Improvement in Online Policy Optimization

Jul 08, 2020
Xinyan Yan, Byron Boots, Ching-An Cheng

* 20 pages, 2 figures; typos corrected 

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Euclideanizing Flows: Diffeomorphic Reduction for Learning Stable Dynamical Systems

May 27, 2020
Muhammad Asif Rana, Anqi Li, Dieter Fox, Byron Boots, Fabio Ramos, Nathan Ratliff

* 2nd Annual Conference on Learning for Dynamics and Control (L4DC) 2020 

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In Defense of Graph Inference Algorithms for Weakly Supervised Object Localization

Mar 18, 2020
Amir Rahimi, Amirreza Shaban, Thalaiyasingam Ajanthan, Richard Hartley, Byron Boots

* 22 pages, 7 figures 

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Intra Order-preserving Functions for Calibration of Multi-Class Neural Networks

Mar 15, 2020
Amir Rahimi, Amirreza Shaban, Ching-An Cheng, Byron Boots, Richard Hartley

* 17 pages, 5 figures 

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A Reduction from Reinforcement Learning to No-Regret Online Learning

Jan 01, 2020
Ching-An Cheng, Remi Tachet des Combes, Byron Boots, Geoff Gordon


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Information Theoretic Model Predictive Q-Learning

Dec 31, 2019
Mohak Bhardwaj, Ankur Handa, Dieter Fox, Byron Boots

* 13 pages 

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Continuous Online Learning and New Insights to Online Imitation Learning

Dec 03, 2019
Jonathan Lee, Ching-An Cheng, Ken Goldberg, Byron Boots


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Expressiveness and Learning of Hidden Quantum Markov Models

Dec 02, 2019
Sandesh Adhikary, Siddarth Srinivasan, Geoff Gordon, Byron Boots

* arXiv admin note: text overlap with arXiv:1903.03730 

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IRIS: Implicit Reinforcement without Interaction at Scale for Learning Control from Offline Robot Manipulation Data

Nov 13, 2019
Ajay Mandlekar, Fabio Ramos, Byron Boots, Li Fei-Fei, Animesh Garg, Dieter Fox


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Riemannian Motion Policy Fusion through Learnable Lyapunov Function Reshaping

Oct 08, 2019
Mustafa Mukadam, Ching-An Cheng, Dieter Fox, Byron Boots, Nathan Ratliff

* Conference on Robot Learning (CoRL), 2019 

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Trajectory-wise Control Variates for Variance Reduction in Policy Gradient Methods

Aug 08, 2019
Ching-An Cheng, Xinyan Yan, Byron Boots


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Online Motion Planning Over Multiple Homotopy Classes with Gaussian Process Inference

Aug 01, 2019
Keshav Kolur, Sahit Chintalapudi, Byron Boots, Mustafa Mukadam

* Accepted to the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2019. 7 pages, 6 figures 

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Differentiable Gaussian Process Motion Planning

Jul 22, 2019
Mohak Bhardwaj, Byron Boots, Mustafa Mukadam

* 10 pages 

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Leveraging Experience in Lazy Search

Jul 16, 2019
Mohak Bhardwaj, Sanjiban Choudhury, Byron Boots, Siddhartha Srinivasa

* 9 pages 

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Provably Efficient Imitation Learning from Observation Alone

Jun 11, 2019
Wen Sun, Anirudh Vemula, Byron Boots, J. Andrew Bagnell

* ICML 2019 

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Composing Ensembles of Policies with Deep Reinforcement Learning

May 25, 2019
Ahmed H. Qureshi, Jacob J. Johnson, Yuzhe Qin, Byron Boots, Michael C. Yip


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Learning to Find Common Objects Across Image Collections

Apr 29, 2019
Amirreza Shaban, Amir Rahimi, Stephen Gould, Byron Boots, Richard Hartley


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RMPflow: A Computational Graph for Automatic Motion Policy Generation

Apr 05, 2019
Ching-An Cheng, Mustafa Mukadam, Jan Issac, Stan Birchfield, Dieter Fox, Byron Boots, Nathan Ratliff

* WAFR 2018 

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