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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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Multi-Task Domain Adaptation for Deep Learning of Instance Grasping from Simulation

Mar 04, 2018
Kuan Fang, Yunfei Bai, Stefan Hinterstoisser, Silvio Savarese, Mrinal Kalakrishnan

* ICRA 2018 

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Using Simulation and Domain Adaptation to Improve Efficiency of Deep Robotic Grasping

Sep 25, 2017
Konstantinos Bousmalis, Alex Irpan, Paul Wohlhart, Yunfei Bai, Matthew Kelcey, Mrinal Kalakrishnan, Laura Downs, Julian Ibarz, Peter Pastor, Kurt Konolige, Sergey Levine, Vincent Vanhoucke

* 9 pages, 5 figures, 3 tables 

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Collective Robot Reinforcement Learning with Distributed Asynchronous Guided Policy Search

Oct 03, 2016
Ali Yahya, Adrian Li, Mrinal Kalakrishnan, Yevgen Chebotar, Sergey Levine

* Submitted to the IEEE International Conference on Robotics and Automation 2017 

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Probabilistic Object Tracking using a Range Camera

May 01, 2015
Manuel Wüthrich, Peter Pastor, Mrinal Kalakrishnan, Jeannette Bohg, Stefan Schaal

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