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Heuristic-Guided Reinforcement Learning


Jun 05, 2021
Ching-An Cheng, Andrey Kolobov, Adith Swaminathan


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Cautiously Optimistic Policy Optimization and Exploration with Linear Function Approximation


Mar 24, 2021
Andrea Zanette, Ching-An Cheng, Alekh Agarwal

* Initial submission 

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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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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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Policy Improvement from Multiple Experts


Jul 01, 2020
Ching-An Cheng, Andrey Kolobov, Alekh Agarwal


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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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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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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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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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Stable, Concurrent Controller Composition for Multi-Objective Robotic Tasks


Mar 29, 2019
Anqi Li, Ching-An Cheng, Byron Boots, Magnus Egerstedt


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An Online Learning Approach to Model Predictive Control


Feb 24, 2019
Nolan Wagener, Ching-An Cheng, Jacob Sacks, Byron Boots


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Online Learning with Continuous Variations: Dynamic Regret and Reductions


Feb 19, 2019
Ching-An Cheng, Jonathan Lee, Ken Goldberg, Byron Boots


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Orthogonally Decoupled Variational Gaussian Processes


Oct 28, 2018
Hugh Salimbeni, Ching-An Cheng, Byron Boots, Marc Deisenroth

* Appearing NIPS 2018 

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Truncated Back-propagation for Bilevel Optimization


Oct 25, 2018
Amirreza Shaban, Ching-An Cheng, Nathan Hatch, Byron Boots


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Predictor-Corrector Policy Optimization


Oct 15, 2018
Ching-An Cheng, Xinyan Yan, Nathan Ratliff, Byron Boots


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Accelerating Imitation Learning with Predictive Models


Oct 13, 2018
Ching-An Cheng, Xinyan Yan, Evangelos A. Theodorou, Byron Boots


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Agile Off-Road Autonomous Driving Using End-to-End Deep Imitation Learning


Sep 10, 2018
Yunpeng Pan, Ching-An Cheng, Kamil Saigol, Keuntaek Lee, Xinyan Yan, Evangelos Theodorou, Byron Boots

* 13 pages, Robotics: Science and Systems (RSS) 2018 

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Fast Policy Learning through Imitation and Reinforcement


May 26, 2018
Ching-An Cheng, Xinyan Yan, Nolan Wagener, Byron Boots


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Convergence of Value Aggregation for Imitation Learning


Jan 22, 2018
Ching-An Cheng, Byron Boots


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Variational Inference for Gaussian Process Models with Linear Complexity


Jan 22, 2018
Ching-An Cheng, Byron Boots


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Approximately Optimal Continuous-Time Motion Planning and Control via Probabilistic Inference


Feb 27, 2017
Mustafa Mukadam, Ching-An Cheng, Xinyan Yan, Byron Boots

* minor fixes and typos 

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