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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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Untangling Dense Non-Planar Knots by Learning Manipulation Features and Recovery Policies

Jun 29, 2021
Priya Sundaresan, Jennifer Grannen, Brijen Thananjeyan, Ashwin Balakrishna, Jeffrey Ichnowski, Ellen Novoseller, Minho Hwang, Michael Laskey, Joseph E. Gonzalez, Ken Goldberg

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Disentangling Dense Multi-Cable Knots

Jun 04, 2021
Vainavi Viswanath, Jennifer Grannen, Priya Sundaresan, Brijen Thananjeyan, Ashwin Balakrishna, Ellen Novoseller, Jeffrey Ichnowski, Michael Laskey, Joseph E. Gonzalez, Ken Goldberg

* First three authors contributed equally 

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LazyDAgger: Reducing Context Switching in Interactive Imitation Learning

Mar 31, 2021
Ryan Hoque, Ashwin Balakrishna, Carl Putterman, Michael Luo, Daniel S. Brown, Daniel Seita, Brijen Thananjeyan, Ellen Novoseller, Ken Goldberg

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ROIAL: Region of Interest Active Learning for Characterizing Exoskeleton Gait Preference Landscapes

Nov 09, 2020
Kejun Li, Maegan Tucker, Erdem Bıyık, Ellen Novoseller, Joel W. Burdick, Yanan Sui, Dorsa Sadigh, Yisong Yue, Aaron D. Ames

* 6 pages; 7 figures 

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Human Preference-Based Learning for High-dimensional Optimization of Exoskeleton Walking Gaits

Mar 13, 2020
Maegan Tucker, Myra Cheng, Ellen Novoseller, Richard Cheng, Yisong Yue, Joel W. Burdick, Aaron D. Ames

* 8 pages, 9 figures, 2 tables, in review 

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Preference-Based Learning for Exoskeleton Gait Optimization

Sep 26, 2019
Maegan Tucker, Ellen Novoseller, Claudia Kann, Yanan Sui, Yisong Yue, Joel Burdick, Aaron D. Ames

* 7 pages, 7 figures 

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