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How to Train Your Robot with Deep Reinforcement Learning; Lessons We've Learned


Feb 04, 2021
Julian Ibarz, Jie Tan, Chelsea Finn, Mrinal Kalakrishnan, Peter Pastor, Sergey Levine

* Journal of Robotics Research (IJRR), February 2021 

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Action Image Representation: Learning Scalable Deep Grasping Policies with Zero Real World Data


May 13, 2020
Mohi Khansari, Daniel Kappler, Jianlan Luo, Jeff Bingham, Mrinal Kalakrishnan

* 7 pages, 10 figures, and 3 tables. To be published in International Conference on Robotics and Automation, 2020 

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Quantile QT-Opt for Risk-Aware Vision-Based Robotic Grasping


Oct 01, 2019
Cristian Bodnar, Adrian Li, Karol Hausman, Peter Pastor, Mrinal Kalakrishnan

* Under review at ICRA 2020 

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Watch, Try, Learn: Meta-Learning from Demonstrations and Reward


Jun 07, 2019
Allan Zhou, Eric Jang, Daniel Kappler, Alex Herzog, Mohi Khansari, Paul Wohlhart, Yunfei Bai, Mrinal Kalakrishnan, Sergey Levine, Chelsea Finn


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Learning Probabilistic Multi-Modal Actor Models for Vision-Based Robotic Grasping


Apr 15, 2019
Mengyuan Yan, Adrian Li, Mrinal Kalakrishnan, Peter Pastor

* The 2019 International Conference on Robotics and Automation (ICRA) 

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Sim-to-Real via Sim-to-Sim: Data-efficient Robotic Grasping via Randomized-to-Canonical Adaptation Networks


Mar 25, 2019
Stephen James, Paul Wohlhart, Mrinal Kalakrishnan, Dmitry Kalashnikov, Alex Irpan, Julian Ibarz, Sergey Levine, Raia Hadsell, Konstantinos Bousmalis

* To be published in Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition (CVPR 2019) 

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QT-Opt: Scalable Deep Reinforcement Learning for Vision-Based Robotic Manipulation


Nov 28, 2018
Dmitry Kalashnikov, Alex Irpan, Peter Pastor, Julian Ibarz, Alexander Herzog, Eric Jang, Deirdre Quillen, Ethan Holly, Mrinal Kalakrishnan, Vincent Vanhoucke, Sergey Levine

* CoRL 2018 camera ready. 23 pages, 14 figures 

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Path Integral Guided Policy Search


Oct 11, 2018
Yevgen Chebotar, Mrinal Kalakrishnan, Ali Yahya, Adrian Li, Stefan Schaal, Sergey Levine

* Published at the International Conference on Robotics and Automation (ICRA), 2017 

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