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Actionable Models: Unsupervised Offline Reinforcement Learning of Robotic Skills


Apr 28, 2021
Yevgen Chebotar, Karol Hausman, Yao Lu, Ted Xiao, Dmitry Kalashnikov, Jake Varley, Alex Irpan, Benjamin Eysenbach, Ryan Julian, Chelsea Finn, Sergey Levine


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MT-Opt: Continuous Multi-Task Robotic Reinforcement Learning at Scale


Apr 27, 2021
Dmitry Kalashnikov, Jacob Varley, Yevgen Chebotar, Benjamin Swanson, Rico Jonschkowski, Chelsea Finn, Sergey Levine, Karol Hausman


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Learning Generalizable Robotic Reward Functions from "In-The-Wild" Human Videos


Mar 31, 2021
Annie S. Chen, Suraj Nair, Chelsea Finn

* https://sites.google.com/view/dvd-human-videos 

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Discriminator Augmented Model-Based Reinforcement Learning


Mar 30, 2021
Behzad Haghgoo, Allan Zhou, Archit Sharma, Chelsea Finn


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Greedy Hierarchical Variational Autoencoders for Large-Scale Video Prediction


Mar 26, 2021
Bohan Wu, Suraj Nair, Roberto Martin-Martin, Li Fei-Fei, Chelsea Finn

* Equal advising and contribution for last two authors 

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Bayesian Meta-Learning for Few-Shot Policy Adaptation Across Robotic Platforms


Mar 05, 2021
Ali Ghadirzadeh, Xi Chen, Petra Poklukar, Chelsea Finn, Mårten Björkman, Danica Kragic


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COMBO: Conservative Offline Model-Based Policy Optimization


Feb 16, 2021
Tianhe Yu, Aviral Kumar, Rafael Rafailov, Aravind Rajeswaran, Sergey Levine, Chelsea Finn


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How to Train Your Robot with Deep Reinforcement Learning; Lessons We've Learned


Feb 04, 2021
Julian Ibarz, Jie Tan, Chelsea Finn, Mrinal Kalakrishnan, Peter Pastor, Sergey Levine

* Journal of Robotics Research (IJRR), February 2021 

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Model-Based Visual Planning with Self-Supervised Functional Distances


Dec 30, 2020
Stephen Tian, Suraj Nair, Frederik Ebert, Sudeep Dasari, Benjamin Eysenbach, Chelsea Finn, Sergey Levine


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Offline Reinforcement Learning from Images with Latent Space Models


Dec 21, 2020
Rafael Rafailov, Tianhe Yu, Aravind Rajeswaran, Chelsea Finn


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Variable-Shot Adaptation for Online Meta-Learning


Dec 14, 2020
Tianhe Yu, Xinyang Geng, Chelsea Finn, Sergey Levine

* First two authors contribute equally 

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WILDS: A Benchmark of in-the-Wild Distribution Shifts


Dec 14, 2020
Pang Wei Koh, Shiori Sagawa, Henrik Marklund, Sang Michael Xie, Marvin Zhang, Akshay Balsubramani, Weihua Hu, Michihiro Yasunaga, Richard Lanas Phillips, Sara Beery, Jure Leskovec, Anshul Kundaje, Emma Pierson, Sergey Levine, Chelsea Finn, Percy Liang


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Models, Pixels, and Rewards: Evaluating Design Trade-offs in Visual Model-Based Reinforcement Learning


Dec 08, 2020
Mohammad Babaeizadeh, Mohammad Taghi Saffar, Danijar Hafner, Harini Kannan, Chelsea Finn, Sergey Levine, Dumitru Erhan


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Learning Latent Representations to Influence Multi-Agent Interaction


Nov 12, 2020
Annie Xie, Dylan P. Losey, Ryan Tolsma, Chelsea Finn, Dorsa Sadigh

* Conference on Robot Learning (CoRL) 2020. Supplementary website at https://sites.google.com/view/latent-strategies/ 

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Reinforcement Learning with Videos: Combining Offline Observations with Interaction


Nov 12, 2020
Karl Schmeckpeper, Oleh Rybkin, Kostas Daniilidis, Sergey Levine, Chelsea Finn


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Continual Learning of Control Primitives: Skill Discovery via Reset-Games


Nov 10, 2020
Kelvin Xu, Siddharth Verma, Chelsea Finn, Sergey Levine

* To appear at NeurIPS 2020 

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Recovery RL: Safe Reinforcement Learning with Learned Recovery Zones


Oct 29, 2020
Brijen Thananjeyan, Ashwin Balakrishna, Suraj Nair, Michael Luo, Krishnan Srinivasan, Minho Hwang, Joseph E. Gonzalez, Julian Ibarz, Chelsea Finn, Ken Goldberg

* First two authors contributed equally 

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Measuring and Harnessing Transference in Multi-Task Learning


Oct 29, 2020
Christopher Fifty, Ehsan Amid, Zhe Zhao, Tianhe Yu, Rohan Anil, Chelsea Finn


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Learning to be Safe: Deep RL with a Safety Critic


Oct 27, 2020
Krishnan Srinivasan, Benjamin Eysenbach, Sehoon Ha, Jie Tan, Chelsea Finn

* In submission, 16 pages (including appendix) 

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One Solution is Not All You Need: Few-Shot Extrapolation via Structured MaxEnt RL


Oct 27, 2020
Saurabh Kumar, Aviral Kumar, Sergey Levine, Chelsea Finn

* Accepted at NeurIPS 2020 

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MELD: Meta-Reinforcement Learning from Images via Latent State Models


Oct 26, 2020
Tony Z. Zhao, Anusha Nagabandi, Kate Rakelly, Chelsea Finn, Sergey Levine

* Accepted to CoRL 2020. Supplementary material at https://sites.google.com/view/meld-lsm/home . 16 pages, 19 figures 

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Batch Exploration with Examples for Scalable Robotic Reinforcement Learning


Oct 22, 2020
Annie S. Chen, HyunJi Nam, Suraj Nair, Chelsea Finn

* 10 Pages, 9 Figures 

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Cautious Adaptation For Reinforcement Learning in Safety-Critical Settings


Aug 15, 2020
Jesse Zhang, Brian Cheung, Chelsea Finn, Sergey Levine, Dinesh Jayaraman

* 15 pages, 8 figures, ICML 2020. Website with code: https://sites.google.com/berkeley.edu/carl 

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Offline Meta-Reinforcement Learning with Advantage Weighting


Aug 13, 2020
Eric Mitchell, Rafael Rafailov, Xue Bin Peng, Sergey Levine, Chelsea Finn

* 8 pages main text; 18 pages total 

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Goal-Aware Prediction: Learning to Model What Matters


Aug 10, 2020
Suraj Nair, Silvio Savarese, Chelsea Finn


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Explore then Execute: Adapting without Rewards via Factorized Meta-Reinforcement Learning


Aug 06, 2020
Evan Zheran Liu, Aditi Raghunathan, Percy Liang, Chelsea Finn

* Project web page at https://ezliu.github.io/dream 

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