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Robust Policies via Mid-Level Visual Representations: An Experimental Study in Manipulation and Navigation

Nov 13, 2020
Bryan Chen, Alexander Sax, Gene Lewis, Iro Armeni, Silvio Savarese, Amir Zamir, Jitendra Malik, Lerrel Pinto

* Extended version of CoRL 2020 camera ready. Supplementary released separately 

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Visual Imitation Made Easy

Aug 11, 2020
Sarah Young, Dhiraj Gandhi, Shubham Tulsiani, Abhinav Gupta, Pieter Abbeel, Lerrel Pinto

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Self-Supervised Policy Adaptation during Deployment

Jul 08, 2020
Nicklas Hansen, Yu Sun, Pieter Abbeel, Alexei A. Efros, Lerrel Pinto, Xiaolong Wang

* Project page: , Code: 

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Swoosh! Rattle! Thump! -- Actions that Sound

Jul 03, 2020
Dhiraj Gandhi, Abhinav Gupta, Lerrel Pinto

* To be presented at Robotics: Science and Systems 2020 

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Automatic Curriculum Learning through Value Disagreement

Jun 17, 2020
Yunzhi Zhang, Pieter Abbeel, Lerrel Pinto


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Reinforcement Learning with Augmented Data

May 11, 2020
Michael Laskin, Kimin Lee, Adam Stooke, Lerrel Pinto, Pieter Abbeel, Aravind Srinivas

* First two authors contributed equally, website: code: and 

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State-Only Imitation Learning for Dexterous Manipulation

Apr 07, 2020
Ilija Radosavovic, Xiaolong Wang, Lerrel Pinto, Jitendra Malik

* Videos available at 

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Learning Predictive Representations for Deformable Objects Using Contrastive Estimation

Mar 11, 2020
Wilson Yan, Ashwin Vangipuram, Pieter Abbeel, Lerrel Pinto

* Project website: 

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Hierarchically Decoupled Imitation for Morphological Transfer

Mar 03, 2020
Donald J. Hejna III, Pieter Abbeel, Lerrel Pinto

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Generalized Hindsight for Reinforcement Learning

Feb 26, 2020
Alexander C. Li, Lerrel Pinto, Pieter Abbeel

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Learning to Manipulate Deformable Objects without Demonstrations

Oct 29, 2019
Yilin Wu, Wilson Yan, Thanard Kurutach, Lerrel Pinto, Pieter Abbeel

* Project website: 

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Environment Probing Interaction Policies

Jul 26, 2019
Wenxuan Zhou, Lerrel Pinto, Abhinav Gupta

* Published as a conference paper at ICLR 2019 

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PyRobot: An Open-source Robotics Framework for Research and Benchmarking

Jun 19, 2019
Adithyavairavan Murali, Tao Chen, Kalyan Vasudev Alwala, Dhiraj Gandhi, Lerrel Pinto, Saurabh Gupta, Abhinav Gupta

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Robot Learning via Human Adversarial Games

Mar 02, 2019
Jiali Duan*, Qian Wang*, Lerrel Pinto, C. -C. Jay Kuo, Stefanos Nikolaidis

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Sample-Efficient Learning of Nonprehensile Manipulation Policies via Physics-Based Informed State Distributions

Oct 24, 2018
Lerrel Pinto, Aditya Mandalika, Brian Hou, Siddhartha Srinivasa

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Multiple Interactions Made Easy (MIME): Large Scale Demonstrations Data for Imitation

Oct 16, 2018
Pratyusha Sharma, Lekha Mohan, Lerrel Pinto, Abhinav Gupta

* 10 pages, CoRL 2018 

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Robot Learning in Homes: Improving Generalization and Reducing Dataset Bias

Jul 18, 2018
Abhinav Gupta, Adithyavairavan Murali, Dhiraj Gandhi, Lerrel Pinto

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CASSL: Curriculum Accelerated Self-Supervised Learning

Feb 12, 2018
Adithyavairavan Murali, Lerrel Pinto, Dhiraj Gandhi, Abhinav Gupta

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Asymmetric Actor Critic for Image-Based Robot Learning

Oct 18, 2017
Lerrel Pinto, Marcin Andrychowicz, Peter Welinder, Wojciech Zaremba, Pieter Abbeel

* Videos of experiments can be found at 

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Predictive-State Decoders: Encoding the Future into Recurrent Networks

Sep 25, 2017
Arun Venkatraman, Nicholas Rhinehart, Wen Sun, Lerrel Pinto, Martial Hebert, Byron Boots, Kris M. Kitani, J. Andrew Bagnell

* NIPS 2017 

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Learning to Fly by Crashing

Apr 27, 2017
Dhiraj Gandhi, Lerrel Pinto, Abhinav Gupta

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Robust Adversarial Reinforcement Learning

Mar 08, 2017
Lerrel Pinto, James Davidson, Rahul Sukthankar, Abhinav Gupta

* 10 pages 

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Supervision via Competition: Robot Adversaries for Learning Tasks

Oct 05, 2016
Lerrel Pinto, James Davidson, Abhinav Gupta

* Submission to ICRA 2017 

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Learning to Push by Grasping: Using multiple tasks for effective learning

Sep 28, 2016
Lerrel Pinto, Abhinav Gupta

* Under review at the International Conference on Robotics and Automation (ICRA) 2017 

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The Curious Robot: Learning Visual Representations via Physical Interactions

Jul 26, 2016
Lerrel Pinto, Dhiraj Gandhi, Yuanfeng Han, Yong-Lae Park, Abhinav Gupta

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Supersizing Self-supervision: Learning to Grasp from 50K Tries and 700 Robot Hours

Sep 23, 2015
Lerrel Pinto, Abhinav Gupta

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