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Do As I Can, Not As I Say: Grounding Language in Robotic Affordances



Michael Ahn , Anthony Brohan , Noah Brown , Yevgen Chebotar , Omar Cortes , Byron David , Chelsea Finn , Keerthana Gopalakrishnan , Karol Hausman , Alex Herzog , Daniel Ho , Jasmine Hsu , Julian Ibarz , Brian Ichter , Alex Irpan , Eric Jang , Rosario Jauregui Ruano , Kyle Jeffrey , Sally Jesmonth , Nikhil J Joshi , Ryan Julian , Dmitry Kalashnikov , Yuheng Kuang , Kuang-Huei Lee , Sergey Levine , Yao Lu , Linda Luu , Carolina Parada , Peter Pastor , Jornell Quiambao , Kanishka Rao , Jarek Rettinghouse , Diego Reyes , Pierre Sermanet , Nicolas Sievers , Clayton Tan , Alexander Toshev , Vincent Vanhoucke , Fei Xia , Ted Xiao , Peng Xu , Sichun Xu , Mengyuan Yan

* See website at https://say-can.github.io/ 

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



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

* Journal of Robotics Research (IJRR), February 2021 

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



Cristian Bodnar , Adrian Li , Karol Hausman , Peter Pastor , Mrinal Kalakrishnan

* Under review at ICRA 2020 

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



Mengyuan Yan , Adrian Li , Mrinal Kalakrishnan , Peter Pastor

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

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



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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End-to-End Learning of Semantic Grasping



Eric Jang , Sudheendra Vijayanarasimhan , Peter Pastor , Julian Ibarz , Sergey Levine

* 14 pages 

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



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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Learning Hand-Eye Coordination for Robotic Grasping with Deep Learning and Large-Scale Data Collection



Sergey Levine , Peter Pastor , Alex Krizhevsky , Deirdre Quillen

* This is an extended version of "Learning Hand-Eye Coordination for Robotic Grasping with Large-Scale Data Collection," ISER 2016. Draft modified to correct typo in Algorithm 1 and add a link to the publicly available dataset 

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Probabilistic Depth Image Registration incorporating Nonvisual Information



Manuel Wüthrich , Peter Pastor , Ludovic Righetti , Aude Billard , Stefan Schaal


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