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Byron Boots

University of Washington

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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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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