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Nathan Ratliff

Lula Robotics Inc, Seattle, USA

RMP2: A Structured Composable Policy Class for Robot Learning


Mar 10, 2021
Anqi Li, Ching-An Cheng, M. Asif Rana, Man Xie, Karl Van Wyk, Nathan Ratliff, Byron Boots


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Towards Coordinated Robot Motions: End-to-End Learning of Motion Policies on Transform Trees


Dec 24, 2020
M. Asif Rana, Anqi Li, Dieter Fox, Sonia Chernova, Byron Boots, Nathan Ratliff

* 7 pages 

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Geometric Fabrics for the Acceleration-based Design of Robotic Motion


Nov 11, 2020
Mandy Xie, Karl Van Wyk, Anqi Li, Muhammad Asif Rana, Dieter Fox, Byron Boots, Nathan Ratliff


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RMPflow: A Geometric Framework for Generation of Multi-Task Motion Policies


Jul 25, 2020
Ching-An Cheng, Mustafa Mukadam, Jan Issac, Stan Birchfield, Dieter Fox, Byron Boots, Nathan Ratliff

* arXiv admin note: substantial text overlap with arXiv:1811.07049 

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An Interior Point Method Solving Motion Planning Problems with Narrow Passages


Jul 09, 2020
Jim Mainprice, Nathan Ratliff, Marc Toussaint, Stefan Schaal

* IEEE RO-MAN 2020, 6 pages 

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Model-Based Generalization Under Parameter Uncertainty Using Path Integral Control


Jun 04, 2020
Ian Abraham, Ankur Handa, Nathan Ratliff, Kendall Lowrey, Todd D. Murphey, Dieter Fox

* IEEE Robotics and Automation Letters ( Volume: 5 , Issue: 2 , April 2020 ) 

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Euclideanizing Flows: Diffeomorphic Reduction for Learning Stable Dynamical Systems


May 27, 2020
Muhammad Asif Rana, Anqi Li, Dieter Fox, Byron Boots, Fabio Ramos, Nathan Ratliff

* 2nd Annual Conference on Learning for Dynamics and Control (L4DC) 2020 

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Guided Uncertainty-Aware Policy Optimization: Combining Learning and Model-Based Strategies for Sample-Efficient Policy Learning


May 26, 2020
Michelle A. Lee, Carlos Florensa, Jonathan Tremblay, Nathan Ratliff, Animesh Garg, Fabio Ramos, Dieter Fox

* International Conference in Robotics and Automation 2020 

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DexPilot: Vision Based Teleoperation of Dexterous Robotic Hand-Arm System


Oct 14, 2019
Ankur Handa, Karl Van Wyk, Wei Yang, Jacky Liang, Yu-Wei Chao, Qian Wan, Stan Birchfield, Nathan Ratliff, Dieter Fox

* 17 pages, first version of DexPilot 

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Trajectory Optimization for Coordinated Human-Robot Collaboration


Oct 10, 2019
Adam Fishman, Chris Paxton, Wei Yang, Nathan Ratliff, Dieter Fox

* 3 figures, 7 pages 

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Riemannian Motion Policy Fusion through Learnable Lyapunov Function Reshaping


Oct 08, 2019
Mustafa Mukadam, Ching-An Cheng, Dieter Fox, Byron Boots, Nathan Ratliff

* Conference on Robot Learning (CoRL), 2019 

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Scaling Local Control to Large-Scale Topological Navigation


Oct 08, 2019
Xiangyun Meng, Nathan Ratliff, Yu Xiang, Dieter Fox


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Representing Robot Task Plans as Robust Logical-Dynamical Systems


Aug 05, 2019
Chris Paxton, Nathan Ratliff, Clemens Eppner, Dieter Fox

* 9 pages, extended version of IROS 2019 paper 

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Learning Latent Space Dynamics for Tactile Servoing


Apr 15, 2019
Giovanni Sutanto, Nathan Ratliff, Balakumar Sundaralingam, Yevgen Chebotar, Zhe Su, Ankur Handa, Dieter Fox

* Accepted to be published at the International Conference on Robotics and Automation (ICRA) 2019. The final version for publication at ICRA 2019 is 7 pages (i.e. 6 pages of technical content (including text, figures, tables, acknowledgement, etc.) and 1 page of the Bibliography/References), while this arXiv version is 8 pages (added Appendix and some extra details) 

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RMPflow: A Computational Graph for Automatic Motion Policy Generation


Apr 05, 2019
Ching-An Cheng, Mustafa Mukadam, Jan Issac, Stan Birchfield, Dieter Fox, Byron Boots, Nathan Ratliff

* WAFR 2018 

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Neural Autonomous Navigation with Riemannian Motion Policy


Apr 03, 2019
Xiangyun Meng, Nathan Ratliff, Yu Xiang, Dieter Fox


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Joint Inference of Kinematic and Force Trajectories with Visuo-Tactile Sensing


Mar 08, 2019
Alexander Lambert, Mustafa Mukadam, Balakumar Sundaralingam, Nathan Ratliff, Byron Boots, Dieter Fox


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Closing the Sim-to-Real Loop: Adapting Simulation Randomization with Real World Experience


Mar 05, 2019
Yevgen Chebotar, Ankur Handa, Viktor Makoviychuk, Miles Macklin, Jan Issac, Nathan Ratliff, Dieter Fox


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Robust Learning of Tactile Force Estimation through Robot Interaction


Mar 05, 2019
Balakumar Sundaralingam, Alexander Lambert, Ankur Handa, Byron Boots, Tucker Hermans, Stan Birchfield, Nathan Ratliff, Dieter Fox

* accepted to ICRA 2019 (camera ready version) 

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Predictor-Corrector Policy Optimization


Oct 15, 2018
Ching-An Cheng, Xinyan Yan, Nathan Ratliff, Byron Boots


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A New Data Source for Inverse Dynamics Learning


Oct 06, 2017
Daniel Kappler, Franziska Meier, Nathan Ratliff, Stefan Schaal

* IROS 2017 

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Real-time Perception meets Reactive Motion Generation


Oct 06, 2017
Daniel Kappler, Franziska Meier, Jan Issac, Jim Mainprice, Cristina Garcia Cifuentes, Manuel Wüthrich, Vincent Berenz, Stefan Schaal, Nathan Ratliff, Jeannette Bohg


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DOOMED: Direct Online Optimization of Modeling Errors in Dynamics


Aug 09, 2016
Nathan Ratliff, Franziska Meier, Daniel Kappler, Stefan Schaal

* Added an acknowledgements section 

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On the Fundamental Importance of Gauss-Newton in Motion Optimization


May 30, 2016
Nathan Ratliff, Marc Toussaint, Jeannette Bohg, Stefan Schaal


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Policy Learning with Hypothesis based Local Action Selection


May 08, 2015
Bharath Sankaran, Jeannette Bohg, Nathan Ratliff, Stefan Schaal

* RLDM abstract 

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Semi-supervised Learning with Density Based Distances


Feb 14, 2012
Avleen S. Bijral, Nathan Ratliff, Nathan Srebro


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