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Lyapunov Density Models: Constraining Distribution Shift in Learning-Based Control



Katie Kang , Paula Gradu , Jason Choi , Michael Janner , Claire Tomlin , Sergey Levine


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Contrastive Learning as Goal-Conditioned Reinforcement Learning



Benjamin Eysenbach , Tianjun Zhang , Ruslan Salakhutdinov , Sergey Levine

* Code is available on the website: https://ben-eysenbach.github.io/contrastive_rl 

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Imitating Past Successes can be Very Suboptimal



Benjamin Eysenbach , Soumith Udatha , Sergey Levine , Ruslan Salakhutdinov


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Adversarial Unlearning: Reducing Confidence Along Adversarial Directions



Amrith Setlur , Benjamin Eysenbach , Virginia Smith , Sergey Levine


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Multimodal Masked Autoencoders Learn Transferable Representations



Xinyang Geng , Hao Liu , Lisa Lee , Dale Schuurmans , Sergey Levine , Pieter Abbeel


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First Contact: Unsupervised Human-Machine Co-Adaptation via Mutual Information Maximization



Siddharth Reddy , Sergey Levine , Anca D. Dragan


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Planning with Diffusion for Flexible Behavior Synthesis



Michael Janner , Yilun Du , Joshua B. Tenenbaum , Sergey Levine

* ICML 2022 (long talk). Project page and code at https://diffusion-planning.github.io/ 

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Planning to Practice: Efficient Online Fine-Tuning by Composing Goals in Latent Space



Kuan Fang , Patrick Yin , Ashvin Nair , Sergey Levine


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ASE: Large-Scale Reusable Adversarial Skill Embeddings for Physically Simulated Characters



Xue Bin Peng , Yunrong Guo , Lina Halper , Sergey Levine , Sanja Fidler


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Control-Aware Prediction Objectives for Autonomous Driving



Rowan McAllister , Blake Wulfe , Jean Mercat , Logan Ellis , Sergey Levine , Adrien Gaidon

* Accepted at IEEE International Conference on Robotics and Automation (ICRA) 2022 

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