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Daniel Kappler

AMD, MPI for Intelligent Systems, T├╝bingen, Germany, Lula Robotics Inc, Seattle, USA

BC-Z: Zero-Shot Task Generalization with Robotic Imitation Learning

Feb 04, 2022
Eric Jang, Alex Irpan, Mohi Khansari, Daniel Kappler, Frederik Ebert, Corey Lynch, Sergey Levine, Chelsea Finn

* Conference on Robot Learning (pp. 991-1002). 2022 Jan 11 
* CoRL 2021, 23 pages 

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Action Image Representation: Learning Scalable Deep Grasping Policies with Zero Real World Data

May 13, 2020
Mohi Khansari, Daniel Kappler, Jianlan Luo, Jeff Bingham, Mrinal Kalakrishnan

* 7 pages, 10 figures, and 3 tables. To be published in International Conference on Robotics and Automation, 2020 

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Scalable Multi-Task Imitation Learning with Autonomous Improvement

Feb 25, 2020
Avi Singh, Eric Jang, Alexander Irpan, Daniel Kappler, Murtaza Dalal, Sergey Levine, Mohi Khansari, Chelsea Finn

* Accepted to ICRA 2020. Supplementary material at 

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Watch, Try, Learn: Meta-Learning from Demonstrations and Reward

Jun 07, 2019
Allan Zhou, Eric Jang, Daniel Kappler, Alex Herzog, Mohi Khansari, Paul Wohlhart, Yunfei Bai, Mrinal Kalakrishnan, Sergey Levine, Chelsea Finn

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Leveraging Contact Forces for Learning to Grasp

Sep 19, 2018
Hamza Merzic, Miroslav Bogdanovic, Daniel Kappler, Ludovic Righetti, Jeannette Bohg

* 7 pages, 5 figures, Submitted to ICRA'19 

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Grasp success prediction with quality metrics

Sep 10, 2018
Carlos Rubert, Daniel Kappler, Jeannette Bohg, Antonio Morales

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Riemannian Motion Policies

Jul 25, 2018
Nathan D. Ratliff, Jan Issac, Daniel Kappler, Stan Birchfield, Dieter Fox

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Online Learning of a Memory for Learning Rates

Mar 23, 2018
Franziska Meier, Daniel Kappler, Stefan Schaal

* accepted to ICRA 2018, code available: ; video pitch available: 

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A New Data Source for Inverse Dynamics Learning

Oct 06, 2017
Daniel Kappler, Franziska Meier, Nathan Ratliff, Stefan Schaal

* IROS 2017 

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Real-time Perception meets Reactive Motion Generation

Oct 06, 2017
Daniel Kappler, Franziska Meier, Jan Issac, Jim Mainprice, Cristina Garcia Cifuentes, Manuel W├╝thrich, Vincent Berenz, Stefan Schaal, Nathan Ratliff, Jeannette Bohg

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DOOMED: Direct Online Optimization of Modeling Errors in Dynamics

Aug 09, 2016
Nathan Ratliff, Franziska Meier, Daniel Kappler, Stefan Schaal

* Added an acknowledgements section 

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Superpixel Convolutional Networks using Bilateral Inceptions

Aug 08, 2016
Raghudeep Gadde, Varun Jampani, Martin Kiefel, Daniel Kappler, Peter V. Gehler

* European Conference on Computer Vision (ECCV), 2016 

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A New Perspective and Extension of the Gaussian Filter

Jun 05, 2015
Manuel W├╝thrich, Sebastian Trimpe, Daniel Kappler, Stefan Schaal

* Will appear in Robotics: Science and Systems (R:SS) 2015 

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The Coordinate Particle Filter - A novel Particle Filter for High Dimensional Systems

May 01, 2015
Manuel W├╝thrich, Jeannette Bohg, Daniel Kappler, Claudia Pfreundt, Stefan Schaal

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