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Learning Switching Criteria for Sim2Real Transfer of Robotic Fabric Manipulation Policies


Jul 02, 2022
Satvik Sharma, Ellen Novoseller, Vainavi Viswanath, Zaynah Javed, Rishi Parikh, Ryan Hoque, Ashwin Balakrishna, Daniel S. Brown, Ken Goldberg

* CASE 2022. The first two authors contributed equally. 9 pages; 5 figures; 1 table 

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Teaching Robots to Span the Space of Functional Expressive Motion


Mar 04, 2022
Arjun Sripathy, Andreea Bobu, Zhongyu Li, Koushil Sreenath, Daniel S. Brown, Anca D. Dragan


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LEGS: Learning Efficient Grasp Sets for Exploratory Grasping


Nov 29, 2021
Letian Fu, Michael Danielczuk, Ashwin Balakrishna, Daniel S. Brown, Jeffrey Ichnowski, Eugen Solowjow, Ken Goldberg


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ThriftyDAgger: Budget-Aware Novelty and Risk Gating for Interactive Imitation Learning


Sep 17, 2021
Ryan Hoque, Ashwin Balakrishna, Ellen Novoseller, Albert Wilcox, Daniel S. Brown, Ken Goldberg

* CoRL 2021 Oral 

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Offline Preference-Based Apprenticeship Learning


Jul 22, 2021
Daniel Shin, Daniel S. Brown

* ICML Workshop on Human-AI Collaboration in Sequential Decision-Making, 2021 

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OPAL: Offline Preference-Based Apprenticeship Learning


Jul 20, 2021
Daniel Shin, Daniel S. Brown

* ICML Workshop on Human-AI Collaboration in Sequential Decision-Making, 2021 

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Kit-Net: Self-Supervised Learning to Kit Novel 3D Objects into Novel 3D Cavities


Jul 13, 2021
Shivin Devgon, Jeffrey Ichnowski, Michael Danielczuk, Daniel S. Brown, Ashwin Balakrishna, Shirin Joshi, Eduardo M. C. Rocha, Eugen Solowjow, Ken Goldberg

* Conference on Automation Science and Engineering (CASE) 2021 

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Policy Gradient Bayesian Robust Optimization for Imitation Learning


Jun 21, 2021
Zaynah Javed, Daniel S. Brown, Satvik Sharma, Jerry Zhu, Ashwin Balakrishna, Marek Petrik, Anca D. Dragan, Ken Goldberg

* In proceedings of the International Conference on Machine Learning (ICML) 2021 

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Optimal Cost Design for Model Predictive Control


Apr 23, 2021
Avik Jain, Lawrence Chan, Daniel S. Brown, Anca D. Dragan

* In proceedings of 3rd Annual Learning for Dynamics & Control Conference (L4DC) 2021 

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