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Hierarchical Policy Blending As Optimal Transport


Dec 04, 2022
An T. Le, Kay Hansel, Jan Peters, Georgia Chalvatzaki

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* 15 pages, 5 figures, submitted to 5th Annual Learning for Dynamics & Control Conference (L4DC) 

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Active Exploration for Robotic Manipulation


Oct 23, 2022
Tim Schneider, Boris Belousov, Georgia Chalvatzaki, Diego Romeres, Devesh K. Jha, Jan Peters

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* Published without appendix at "International Conference on Intelligent Robots and Systems (IROS)" 2022 

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Hierarchical Policy Blending as Inference for Reactive Robot Control


Oct 14, 2022
Kay Hansel, Julen Urain, Jan Peters, Georgia Chalvatzaki

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* 8 pages, 5 figures, 1 table, submitted to ICRA 2023 

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Placing by Touching: An empirical study on the importance of tactile sensing for precise object placing


Oct 05, 2022
Luca Lach, Niklas Funk, Robert Haschke, Severin Lemaignan, Helge Joachim Ritter, Jan Peters, Georgia Chalvatzaki

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An information-theoretic approach to unsupervised keypoint representation learning


Sep 30, 2022
Ali Younes, Simone Schaub-Meyer, Georgia Chalvatzaki

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Safe reinforcement learning of dynamic high-dimensional robotic tasks: navigation, manipulation, interaction


Sep 27, 2022
Puze Liu, Kuo Zhang, Davide Tateo, Snehal Jauhri, Zhiyuan Hu, Jan Peters, Georgia Chalvatzaki

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* 6 pages 

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SE(3)-DiffusionFields: Learning smooth cost functions for joint grasp and motion optimization through diffusion


Sep 19, 2022
Julen Urain, Niklas Funk, Jan Peters, Georgia Chalvatzaki

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* diffusion models, SE(3), grasping, 

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SE(3)-DiffusionFields: Learning cost functions for joint grasp and motion optimization through diffusion


Sep 08, 2022
Julen Urain, Niklas Funk, Georgia Chalvatzaki, Jan Peters

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Learning Implicit Priors for Motion Optimization


Apr 11, 2022
Alexander Lambert, An T. Le, Julen Urain, Georgia Chalvatzaki, Byron Boots, Jan Peters

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* 15 pages, paper website: https://sites.google.com/view/implicit-priors/home 

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Accelerating Integrated Task and Motion Planning with Neural Feasibility Checking


Mar 20, 2022
Lei Xu, Tianyu Ren, Georgia Chalvatzaki, Jan Peters

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* 6 pages, 6 figures, 

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