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


May 05, 2022
Xue Bin Peng, Yunrong Guo, Lina Halper, Sergey Levine, Sanja Fidler


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Adversarial Motion Priors Make Good Substitutes for Complex Reward Functions


Mar 28, 2022
Alejandro Escontrela, Xue Bin Peng, Wenhao Yu, Tingnan Zhang, Atil Iscen, Ken Goldberg, Pieter Abbeel

* 8 pages, 6 figures, 3 tables 

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CIC: Contrastive Intrinsic Control for Unsupervised Skill Discovery


Feb 01, 2022
Michael Laskin, Hao Liu, Xue Bin Peng, Denis Yarats, Aravind Rajeswaran, Pieter Abbeel

* Project website: https://sites.google.com/view/cicrl/ 

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Legged Robots that Keep on Learning: Fine-Tuning Locomotion Policies in the Real World


Oct 11, 2021
Laura Smith, J. Chase Kew, Xue Bin Peng, Sehoon Ha, Jie Tan, Sergey Levine

* Project website: https://sites.google.com/berkeley.edu/fine-tuning-locomotion 

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AMP: Adversarial Motion Priors for Stylized Physics-Based Character Control


Apr 05, 2021
Xue Bin Peng, Ze Ma, Pieter Abbeel, Sergey Levine, Angjoo Kanazawa


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Reinforcement Learning for Robust Parameterized Locomotion Control of Bipedal Robots


Mar 26, 2021
Zhongyu Li, Xuxin Cheng, Xue Bin Peng, Pieter Abbeel, Sergey Levine, Glen Berseth, Koushil Sreenath

* To appear on 2021 International Conference on Robotics and Automation (ICRA 2021) 

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Offline Meta-Reinforcement Learning with Advantage Weighting


Aug 13, 2020
Eric Mitchell, Rafael Rafailov, Xue Bin Peng, Sergey Levine, Chelsea Finn

* 8 pages main text; 18 pages total 

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Learning Agile Robotic Locomotion Skills by Imitating Animals


Apr 02, 2020
Xue Bin Peng, Erwin Coumans, Tingnan Zhang, Tsang-Wei Lee, Jie Tan, Sergey Levine


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Reward-Conditioned Policies


Dec 31, 2019
Aviral Kumar, Xue Bin Peng, Sergey Levine


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Advantage-Weighted Regression: Simple and Scalable Off-Policy Reinforcement Learning


Oct 07, 2019
Xue Bin Peng, Aviral Kumar, Grace Zhang, Sergey Levine


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Reinforcement Learning with Competitive Ensembles of Information-Constrained Primitives


Jun 25, 2019
Anirudh Goyal, Shagun Sodhani, Jonathan Binas, Xue Bin Peng, Sergey Levine, Yoshua Bengio

* Preprint, Under Review 

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MCP: Learning Composable Hierarchical Control with Multiplicative Compositional Policies


May 23, 2019
Xue Bin Peng, Michael Chang, Grace Zhang, Pieter Abbeel, Sergey Levine


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SFV: Reinforcement Learning of Physical Skills from Videos


Oct 15, 2018
Xue Bin Peng, Angjoo Kanazawa, Jitendra Malik, Pieter Abbeel, Sergey Levine


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Variational Discriminator Bottleneck: Improving Imitation Learning, Inverse RL, and GANs by Constraining Information Flow


Oct 01, 2018
Xue Bin Peng, Angjoo Kanazawa, Sam Toyer, Pieter Abbeel, Sergey Levine


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DeepMimic: Example-Guided Deep Reinforcement Learning of Physics-Based Character Skills


Jul 27, 2018
Xue Bin Peng, Pieter Abbeel, Sergey Levine, Michiel van de Panne


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Terrain RL Simulator


Apr 17, 2018
Glen Berseth, Xue Bin Peng, Michiel van de Panne

* 10 pages 

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Sim-to-Real Transfer of Robotic Control with Dynamics Randomization


Mar 03, 2018
Xue Bin Peng, Marcin Andrychowicz, Wojciech Zaremba, Pieter Abbeel


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Learning Locomotion Skills Using DeepRL: Does the Choice of Action Space Matter?


Nov 03, 2016
Xue Bin Peng, Michiel van de Panne


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