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Data augmentation for efficient learning from parametric experts


May 23, 2022
Alexandre Galashov , Josh Merel , Nicolas Heess


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Imitate and Repurpose: Learning Reusable Robot Movement Skills From Human and Animal Behaviors


Mar 31, 2022
Steven Bohez , Saran Tunyasuvunakool , Philemon Brakel , Fereshteh Sadeghi , Leonard Hasenclever , Yuval Tassa , Emilio Parisotto , Jan Humplik , Tuomas Haarnoja , Roland Hafner , Markus Wulfmeier , Michael Neunert , Ben Moran , Noah Siegel , Andrea Huber , Francesco Romano , Nathan Batchelor , Federico Casarini , Josh Merel , Raia Hadsell , Nicolas Heess

* 30 pages, 9 figures, 8 tables, 14 videos at https://bit.ly/robot-npmp , submitted to Science Robotics 

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NeuPL: Neural Population Learning


Feb 15, 2022
Siqi Liu , Luke Marris , Daniel Hennes , Josh Merel , Nicolas Heess , Thore Graepel


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Learning Transferable Motor Skills with Hierarchical Latent Mixture Policies


Dec 09, 2021
Dushyant Rao , Fereshteh Sadeghi , Leonard Hasenclever , Markus Wulfmeier , Martina Zambelli , Giulia Vezzani , Dhruva Tirumala , Yusuf Aytar , Josh Merel , Nicolas Heess , Raia Hadsell


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Divergent representations of ethological visual inputs emerge from supervised, unsupervised, and reinforcement learning


Dec 03, 2021
Grace W. Lindsay , Josh Merel , Tom Mrsic-Flogel , Maneesh Sahani

* 19 total pages, 8 main figures, 5 Supplementary figures 

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Evaluating model-based planning and planner amortization for continuous control


Oct 07, 2021
Arunkumar Byravan , Leonard Hasenclever , Piotr Trochim , Mehdi Mirza , Alessandro Davide Ialongo , Yuval Tassa , Jost Tobias Springenberg , Abbas Abdolmaleki , Nicolas Heess , Josh Merel , Martin Riedmiller

* 9 pages main text, 30 pages with references and appendix including several ablations and additional experiments. Submitted to ICLR 2022 

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Learning Dynamics Models for Model Predictive Agents


Sep 29, 2021
Michael Lutter , Leonard Hasenclever , Arunkumar Byravan , Gabriel Dulac-Arnold , Piotr Trochim , Nicolas Heess , Josh Merel , Yuval Tassa


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From Motor Control to Team Play in Simulated Humanoid Football


May 25, 2021
Siqi Liu , Guy Lever , Zhe Wang , Josh Merel , S. M. Ali Eslami , Daniel Hennes , Wojciech M. Czarnecki , Yuval Tassa , Shayegan Omidshafiei , Abbas Abdolmaleki , Noah Y. Siegel , Leonard Hasenclever , Luke Marris , Saran Tunyasuvunakool , H. Francis Song , Markus Wulfmeier , Paul Muller , Tuomas Haarnoja , Brendan D. Tracey , Karl Tuyls , Thore Graepel , Nicolas Heess


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Local Search for Policy Iteration in Continuous Control


Oct 12, 2020
Jost Tobias Springenberg , Nicolas Heess , Daniel Mankowitz , Josh Merel , Arunkumar Byravan , Abbas Abdolmaleki , Jackie Kay , Jonas Degrave , Julian Schrittwieser , Yuval Tassa , Jonas Buchli , Dan Belov , Martin Riedmiller


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Learning to swim in potential flow


Sep 30, 2020
Yusheng Jiao , Feng Ling , Sina Heydari , Nicolas Heess , Josh Merel , Eva Kanso


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