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ReLMM: Practical RL for Learning Mobile Manipulation Skills Using Only Onboard Sensors

Jul 28, 2021
Charles Sun, Jędrzej Orbik, Coline Devin, Brian Yang, Abhishek Gupta, Glen Berseth, Sergey Levine

* 17 pages 

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Persistent Reinforcement Learning via Subgoal Curricula

Jul 27, 2021
Archit Sharma, Abhishek Gupta, Sergey Levine, Karol Hausman, Chelsea Finn

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Modularity in Reinforcement Learning via Algorithmic Independence in Credit Assignment

Jul 21, 2021
Michael Chang, Sidhant Kaushik, Sergey Levine, Thomas L. Griffiths

* Long Presentation at the Thirty-eighth International Conference on Machine Learning (ICML) 2021. 21 pages, 11 figures. v2: updated acknowledgments. v3: clarified that the internal function nodes of the credit assignment mechanism are not considered O(1) 

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Offline Meta-Reinforcement Learning with Online Self-Supervision

Jul 19, 2021
Vitchyr H. Pong, Ashvin Nair, Laura Smith, Catherine Huang, Sergey Levine

* 10 pages, 6 figures 

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MURAL: Meta-Learning Uncertainty-Aware Rewards for Outcome-Driven Reinforcement Learning

Jul 18, 2021
Kevin Li, Abhishek Gupta, Ashwin Reddy, Vitchyr Pong, Aurick Zhou, Justin Yu, Sergey Levine

* Accepted to ICML 2021. First two authors contributed equally 

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Conservative Objective Models for Effective Offline Model-Based Optimization

Jul 14, 2021
Brandon Trabucco, Aviral Kumar, Xinyang Geng, Sergey Levine

* ICML 2021. First two authors contributed equally. Code at: 

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Why Generalization in RL is Difficult: Epistemic POMDPs and Implicit Partial Observability

Jul 13, 2021
Dibya Ghosh, Jad Rahme, Aviral Kumar, Amy Zhang, Ryan P. Adams, Sergey Levine

* First two authors contributed equally 

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Explore and Control with Adversarial Surprise

Jul 12, 2021
Arnaud Fickinger, Natasha Jaques, Samyak Parajuli, Michael Chang, Nicholas Rhinehart, Glen Berseth, Stuart Russell, Sergey Levine

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Multi-Robot Deep Reinforcement Learning for Mobile Navigation

Jun 24, 2021
Katie Kang, Gregory Kahn, Sergey Levine

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Model-Based Reinforcement Learning via Latent-Space Collocation

Jun 24, 2021
Oleh Rybkin, Chuning Zhu, Anusha Nagabandi, Kostas Daniilidis, Igor Mordatch, Sergey Levine

* International Conference on Machine Learning (ICML), 2021. Videos and code at 

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FitVid: Overfitting in Pixel-Level Video Prediction

Jun 24, 2021
Mohammad Babaeizadeh, Mohammad Taghi Saffar, Suraj Nair, Sergey Levine, Chelsea Finn, Dumitru Erhan

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Which Mutual-Information Representation Learning Objectives are Sufficient for Control?

Jun 14, 2021
Kate Rakelly, Abhishek Gupta, Carlos Florensa, Sergey Levine

* 18 pages, 11 figures 

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What Can I Do Here? Learning New Skills by Imagining Visual Affordances

Jun 13, 2021
Alexander Khazatsky, Ashvin Nair, Daniel Jing, Sergey Levine

* 10 pages, 10 figures. Presented at ICRA 2021. Project website: 

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Reinforcement Learning as One Big Sequence Modeling Problem

Jun 03, 2021
Michael Janner, Qiyang Li, Sergey Levine

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Variational Empowerment as Representation Learning for Goal-Based Reinforcement Learning

Jun 02, 2021
Jongwook Choi, Archit Sharma, Honglak Lee, Sergey Levine, Shixiang Shane Gu

* Accepted at International Conference on Machine Learning (ICML) 2021 

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Actionable Models: Unsupervised Offline Reinforcement Learning of Robotic Skills

Apr 28, 2021
Yevgen Chebotar, Karol Hausman, Yao Lu, Ted Xiao, Dmitry Kalashnikov, Jake Varley, Alex Irpan, Benjamin Eysenbach, Ryan Julian, Chelsea Finn, Sergey Levine

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MT-Opt: Continuous Multi-Task Robotic Reinforcement Learning at Scale

Apr 27, 2021
Dmitry Kalashnikov, Jacob Varley, Yevgen Chebotar, Benjamin Swanson, Rico Jonschkowski, Chelsea Finn, Sergey Levine, Karol Hausman

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DisCo RL: Distribution-Conditioned Reinforcement Learning for General-Purpose Policies

Apr 23, 2021
Soroush Nasiriany, Vitchyr H. Pong, Ashvin Nair, Alexander Khazatsky, Glen Berseth, Sergey Levine

* ICRA 2021 

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Reset-Free Reinforcement Learning via Multi-Task Learning: Learning Dexterous Manipulation Behaviors without Human Intervention

Apr 22, 2021
Abhishek Gupta, Justin Yu, Tony Z. Zhao, Vikash Kumar, Aaron Rovinsky, Kelvin Xu, Thomas Devlin, Sergey Levine

* Published at ICRA 2021. First four authors contributed equally 

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Contingencies from Observations: Tractable Contingency Planning with Learned Behavior Models

Apr 21, 2021
Nicholas Rhinehart, Jeff He, Charles Packer, Matthew A. Wright, Rowan McAllister, Joseph E. Gonzalez, Sergey Levine

* To be published at ICRA 2021. Project page: 

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Outcome-Driven Reinforcement Learning via Variational Inference

Apr 20, 2021
Tim G. J. Rudner, Vitchyr H. Pong, Rowan McAllister, Yarin Gal, Sergey Levine

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RECON: Rapid Exploration for Open-World Navigation with Latent Goal Models

Apr 14, 2021
Dhruv Shah, Benjamin Eysenbach, Nicholas Rhinehart, Sergey Levine

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