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Byron Boots

University of Washington

Leveraging Experience in Lazy Search


Oct 10, 2021
Mohak Bhardwaj, Sanjiban Choudhury, Byron Boots, Siddhartha Srinivasa

* Extended journal version accepted for publication at Autonomous Robots; 17 pages. arXiv admin note: substantial text overlap with arXiv:1907.07238 

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Geometric Fabrics: Generalizing Classical Mechanics to Capture the Physics of Behavior


Sep 21, 2021
Karl Van Wyk, Mandy Xie, Anqi Li, Muhammad Asif Rana, Buck Babich, Bryan Peele, Qian Wan, Iretiayo Akinola, Balakumar Sundaralingam, Dieter Fox, Byron Boots, Nathan D. Ratliff


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Safe Reinforcement Learning Using Advantage-Based Intervention


Jul 19, 2021
Nolan Wagener, Byron Boots, Ching-An Cheng

* Appearing in ICML 2021. 29 pages, 8 figures 

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Entropy Regularized Motion Planning via Stein Variational Inference


Jul 11, 2021
Alexander Lambert, Byron Boots

* RSS 2021 Workshop on Integrating Planning and Learning 

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CoDE: Collocation for Demonstration Encoding


May 07, 2021
Mandy Xie, Anqi Li, Karl Van Wyk, Frank Dellaert, Byron Boots, Nathan Ratliff


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Fast Joint Space Model-Predictive Control for Reactive Manipulation


Apr 28, 2021
Mohak Bhardwaj, Balakumar Sundaralingam, Arsalan Mousavian, Nathan Ratliff, Dieter Fox, Fabio Ramos, Byron Boots

* 12 pages 

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Fast and Efficient Locomotion via Learned Gait Transitions


Apr 09, 2021
Yuxiang Yang, Tingnan Zhang, Erwin Coumans, Jie Tan, Byron Boots

* Preprint. Under review 

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The Value of Planning for Infinite-Horizon Model Predictive Control


Apr 07, 2021
Nathan Hatch, Byron Boots

* 7 pages, 8 figures. To appear in the proceedings of the International Conference on Robotics and Automation (ICRA) 2021 

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Few-shot Weakly-Supervised Object Detection via Directional Statistics


Mar 25, 2021
Amirreza Shaban, Amir Rahimi, Thalaiyasingam Ajanthan, Byron Boots, Richard Hartley


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Dual Online Stein Variational Inference for Control and Dynamics


Mar 23, 2021
Lucas Barcelos, Alexander Lambert, Rafael Oliveira, Paulo Borges, Byron Boots, Fabio Ramos

* Corresponding author: [email protected] 

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RMP2: A Structured Composable Policy Class for Robot Learning


Mar 10, 2021
Anqi Li, Ching-An Cheng, M. Asif Rana, Man Xie, Karl Van Wyk, Nathan Ratliff, Byron Boots


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Combining pretrained CNN feature extractors to enhance clustering of complex natural images


Jan 07, 2021
Joris Guerin, Stephane Thiery, Eric Nyiri, Olivier Gibaru, Byron Boots

* Guerin, J., Thiery, S., Nyiri, E., Gibaru, O., & Boots, B. (2021). Combining pretrained CNN feature extractors to enhance clustering of complex natural images. Neurocomputing, 423, 551-571 
* 21 pages, 16 figures, 10 tables, preprint of our paper published in Neurocomputing 

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Towards Coordinated Robot Motions: End-to-End Learning of Motion Policies on Transform Trees


Dec 24, 2020
M. Asif Rana, Anqi Li, Dieter Fox, Sonia Chernova, Byron Boots, Nathan Ratliff

* 7 pages 

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Blending MPC & Value Function Approximation for Efficient Reinforcement Learning


Dec 10, 2020
Mohak Bhardwaj, Sanjiban Choudhury, Byron Boots

* 15 pages 

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Stein Variational Model Predictive Control


Dec 09, 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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