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Task-Induced Representation Learning


Apr 25, 2022
Jun Yamada, Karl Pertsch, Anisha Gunjal, Joseph J. Lim

* International Conference on Learning Representations (ICLR), 2022 

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Adversarial Skill Chaining for Long-Horizon Robot Manipulation via Terminal State Regularization


Nov 15, 2021
Youngwoon Lee, Joseph J. Lim, Anima Anandkumar, Yuke Zhu

* Published at the Conference on Robot Learning (CoRL) 2021 

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Distilling Motion Planner Augmented Policies into Visual Control Policies for Robot Manipulation


Nov 11, 2021
I-Chun Arthur Liu, Shagun Uppal, Gaurav S. Sukhatme, Joseph J. Lim, Peter Englert, Youngwoon Lee

* Published at the Conference on Robot Learning (CoRL) 2021 

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Learning to Synthesize Programs as Interpretable and Generalizable Policies


Aug 31, 2021
Dweep Trivedi, Jesse Zhang, Shao-Hua Sun, Joseph J. Lim

* 52 pages, 16 figures, 12 tables 

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Demonstration-Guided Reinforcement Learning with Learned Skills


Jul 21, 2021
Karl Pertsch, Youngwoon Lee, Yue Wu, Joseph J. Lim


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Policy Transfer across Visual and Dynamics Domain Gaps via Iterative Grounding


Jul 01, 2021
Grace Zhang, Linghan Zhong, Youngwoon Lee, Joseph J. Lim

* Robotics: Science and Systems (RSS), 2021 

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Generalization to New Actions in Reinforcement Learning


Nov 03, 2020
Ayush Jain, Andrew Szot, Joseph J. Lim

* ICML 2020. Videos and code: https://sites.google.com/view/action-generalization 

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Accelerating Reinforcement Learning with Learned Skill Priors


Oct 22, 2020
Karl Pertsch, Youngwoon Lee, Joseph J. Lim

* 4th Conference on Robot Learning (CoRL), 2020 

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Motion Planner Augmented Reinforcement Learning for Robot Manipulation in Obstructed Environments


Oct 22, 2020
Jun Yamada, Youngwoon Lee, Gautam Salhotra, Karl Pertsch, Max Pflueger, Gaurav S. Sukhatme, Joseph J. Lim, Peter Englert

* Published at the Conference on Robot Learning (CoRL) 2020 

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To Follow or not to Follow: Selective Imitation Learning from Observations


Dec 16, 2019
Youngwoon Lee, Edward S. Hu, Zhengyu Yang, Joseph J. Lim

* Published at the Conference on Robot Learning (CoRL) 2019 

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IKEA Furniture Assembly Environment for Long-Horizon Complex Manipulation Tasks


Nov 17, 2019
Youngwoon Lee, Edward S. Hu, Zhengyu Yang, Alex Yin, Joseph J. Lim

* Simulator 

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Multimodal Model-Agnostic Meta-Learning via Task-Aware Modulation


Oct 30, 2019
Risto Vuorio, Shao-Hua Sun, Hexiang Hu, Joseph J. Lim


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Auto-conditioned Recurrent Mixture Density Networks for Learning Generalizable Robot Skills


Mar 20, 2019
Hejia Zhang, Eric Heiden, Stefanos Nikolaidis, Joseph J. Lim, Gaurav S. Sukhatme

* Submitted to IROS 2019 

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Toward Multimodal Model-Agnostic Meta-Learning


Dec 18, 2018
Risto Vuorio, Shao-Hua Sun, Hexiang Hu, Joseph J. Lim


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Scaling simulation-to-real transfer by learning composable robot skills


Nov 13, 2018
Ryan Julian, Eric Heiden, Zhanpeng He, Hejia Zhang, Stefan Schaal, Joseph J. Lim, Gaurav Sukhatme, Karol Hausman

* Presented at ISER 2018. See https://www.youtube.com/watch?v=Syr2RQTHqTs for supplemental video 

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Zero-Shot Skill Composition and Simulation-to-Real Transfer by Learning Task Representations


Nov 13, 2018
Zhanpeng He, Ryan Julian, Eric Heiden, Hejia Zhang, Stefan Schaal, Joseph J. Lim, Gaurav Sukhatme, Karol Hausman

* Submitted to ICRA 2019. See https://youtu.be/te4JWe7LPKw for supplemental video 

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Auto-conditioned Recurrent Mixture Density Networks for Complex Trajectory Generation


Oct 02, 2018
Hejia Zhang, Eric Heiden, Ryan Julian, Zhangpeng He, Joseph J. Lim, Gaurav S. Sukhatme

* Submitted to ICRA 2019 

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3D Interpreter Networks for Viewer-Centered Wireframe Modeling


Apr 03, 2018
Jiajun Wu, Tianfan Xue, Joseph J. Lim, Yuandong Tian, Joshua B. Tenenbaum, Antonio Torralba, William T. Freeman

* International Journal of Computer Vision, 2018 
* Journal preprint of arXiv:1604.08685 (IJCV, in press). The first two authors contributed equally to this work 

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Unsupervised Visual-Linguistic Reference Resolution in Instructional Videos


May 20, 2017
De-An Huang, Joseph J. Lim, Li Fei-Fei, Juan Carlos Niebles

* CVPR 2017 

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Single Image 3D Interpreter Network


Oct 04, 2016
Jiajun Wu, Tianfan Xue, Joseph J. Lim, Yuandong Tian, Joshua B. Tenenbaum, Antonio Torralba, William T. Freeman

* ECCV 2016 (oral). The first two authors contributed equally to this work 

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Target-driven Visual Navigation in Indoor Scenes using Deep Reinforcement Learning


Sep 16, 2016
Yuke Zhu, Roozbeh Mottaghi, Eric Kolve, Joseph J. Lim, Abhinav Gupta, Li Fei-Fei, Ali Farhadi


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