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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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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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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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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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End-to-End Learning of Semantic Grasping


Nov 09, 2017
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


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


Aug 28, 2016
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


May 01, 2015
Manuel Wüthrich, Peter Pastor, Ludovic Righetti, Aude Billard, Stefan Schaal


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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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Balancing experiments on a torque-controlled humanoid with hierarchical inverse dynamics


Nov 07, 2014
Alexander Herzog, Ludovic Righetti, Felix Grimminger, Peter Pastor, Stefan Schaal

* appears in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2014 

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