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Adversarial Skill Chaining for Long-Horizon Robot Manipulation via Terminal State Regularization


Nov 15, 2021
Youngwoon Lee, Joseph J. Lim, Anima Anandkumar, Yuke Zhu

* Published at the Conference on Robot Learning (CoRL) 2021 

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Reinforcement Learning in Factored Action Spaces using Tensor Decompositions


Oct 27, 2021
Anuj Mahajan, Mikayel Samvelyan, Lei Mao, Viktor Makoviychuk, Animesh Garg, Jean Kossaifi, Shimon Whiteson, Yuke Zhu, Animashree Anandkumar

* 2nd Workshop on Quantum Tensor Networks in Machine Learning (NeurIPS 2021) 

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Augmenting Reinforcement Learning with Behavior Primitives for Diverse Manipulation Tasks


Oct 07, 2021
Soroush Nasiriany, Huihan Liu, Yuke Zhu


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OSCAR: Data-Driven Operational Space Control for Adaptive and Robust Robot Manipulation


Oct 02, 2021
Josiah Wong, Viktor Makoviychuk, Anima Anandkumar, Yuke Zhu


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Bottom-Up Skill Discovery from Unsegmented Demonstrations for Long-Horizon Robot Manipulation


Sep 28, 2021
Yifeng Zhu, Peter Stone, Yuke Zhu

* Submitted to RA-L (ICRA 2022) 

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What Matters in Learning from Offline Human Demonstrations for Robot Manipulation


Aug 06, 2021
Ajay Mandlekar, Danfei Xu, Josiah Wong, Soroush Nasiriany, Chen Wang, Rohun Kulkarni, Li Fei-Fei, Silvio Savarese, Yuke Zhu, Roberto Martín-Martín


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MultiBench: Multiscale Benchmarks for Multimodal Representation Learning


Jul 15, 2021
Paul Pu Liang, Yiwei Lyu, Xiang Fan, Zetian Wu, Yun Cheng, Jason Wu, Leslie Chen, Peter Wu, Michelle A. Lee, Yuke Zhu, Ruslan Salakhutdinov, Louis-Philippe Morency

* Code: https://github.com/pliang279/MultiBench and Website: https://cmu-multicomp-lab.github.io/multibench/ 

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Discovering Generalizable Skills via Automated Generation of Diverse Tasks


Jun 26, 2021
Kuan Fang, Yuke Zhu, Silvio Savarese, Li Fei-Fei

* RSS 2021 

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SECANT: Self-Expert Cloning for Zero-Shot Generalization of Visual Policies


Jun 17, 2021
Linxi Fan, Guanzhi Wang, De-An Huang, Zhiding Yu, Li Fei-Fei, Yuke Zhu, Anima Anandkumar

* ICML 2021. Website: https://linxifan.github.io/secant-site/ 

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DiscoBox: Weakly Supervised Instance Segmentation and Semantic Correspondence from Box Supervision


Jun 05, 2021
Shiyi Lan, Zhiding Yu, Christopher Choy, Subhashree Radhakrishnan, Guilin Liu, Yuke Zhu, Larry S. Davis, Anima Anandkumar

* Tech Report 

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Tesseract: Tensorised Actors for Multi-Agent Reinforcement Learning


May 31, 2021
Anuj Mahajan, Mikayel Samvelyan, Lei Mao, Viktor Makoviychuk, Animesh Garg, Jean Kossaifi, Shimon Whiteson, Yuke Zhu, Animashree Anandkumar

* 38th International Conference on Machine Learning, PMLR 139, 2021 

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Coach-Player Multi-Agent Reinforcement Learning for Dynamic Team Composition


May 18, 2021
Bo Liu, Qiang Liu, Peter Stone, Animesh Garg, Yuke Zhu, Animashree Anandkumar


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Synergies Between Affordance and Geometry: 6-DoF Grasp Detection via Implicit Representations


Apr 04, 2021
Zhenyu Jiang, Yifeng Zhu, Maxwell Svetlik, Kuan Fang, Yuke Zhu


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Dynamic Metric Learning: Towards a Scalable Metric Space to Accommodate Multiple Semantic Scales


Mar 22, 2021
Yifan Sun, Yuke Zhu, Yuhan Zhang, Pengkun Zheng, Xi Qiu, Chi Zhang, Yichen Wei

* 8pages, accepted by CVPR 2021 

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Emergent Hand Morphology and Control from Optimizing Robust Grasps of Diverse Objects


Dec 22, 2020
Xinlei Pan, Animesh Garg, Animashree Anandkumar, Yuke Zhu

* 8 pages, 5 figures, Project website: https://xinleipan.github.io/emergent_morphology/ 

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Hierarchical Planning for Long-Horizon Manipulation with Geometric and Symbolic Scene Graphs


Dec 14, 2020
Yifeng Zhu, Jonathan Tremblay, Stan Birchfield, Yuke Zhu


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Learning Multi-Arm Manipulation Through Collaborative Teleoperation


Dec 12, 2020
Albert Tung, Josiah Wong, Ajay Mandlekar, Roberto Martín-Martín, Yuke Zhu, Li Fei-Fei, Silvio Savarese

* First two authors contributed equally 

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Human-in-the-Loop Imitation Learning using Remote Teleoperation


Dec 12, 2020
Ajay Mandlekar, Danfei Xu, Roberto Martín-Martín, Yuke Zhu, Li Fei-Fei, Silvio Savarese


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Detect, Reject, Correct: Crossmodal Compensation of Corrupted Sensors


Dec 01, 2020
Michelle A. Lee, Matthew Tan, Yuke Zhu, Jeannette Bohg

* 8 pages, 5 figures 

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Deep Affordance Foresight: Planning Through What Can Be Done in the Future


Nov 17, 2020
Danfei Xu, Ajay Mandlekar, Roberto Martín-Martín, Yuke Zhu, Silvio Savarese, Li Fei-Fei


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Fast Uncertainty Quantification for Deep Object Pose Estimation


Nov 16, 2020
Guanya Shi, Yifeng Zhu, Jonathan Tremblay, Stan Birchfield, Fabio Ramos, Animashree Anandkumar, Yuke Zhu

* Video and code are available at https://sites.google.com/view/fastuq 

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Learning a Contact-Adaptive Controller for Robust, Efficient Legged Locomotion


Oct 05, 2020
Xingye Da, Zhaoming Xie, David Hoeller, Byron Boots, Animashree Anandkumar, Yuke Zhu, Buck Babich, Animesh Garg

* supplementary video: https://youtu.be/JJOmFZKpYTo 

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Bongard-LOGO: A New Benchmark for Human-Level Concept Learning and Reasoning


Oct 02, 2020
Weili Nie, Zhiding Yu, Lei Mao, Ankit B. Patel, Yuke Zhu, Animashree Anandkumar

* 21 pages, NeurIPS 2020 

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robosuite: A Modular Simulation Framework and Benchmark for Robot Learning


Sep 25, 2020
Yuke Zhu, Josiah Wong, Ajay Mandlekar, Roberto Martín-Martín

* For more information, please visit https://robosuite.ai 

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OCEAN: Online Task Inference for Compositional Tasks with Context Adaptation


Aug 17, 2020
Hongyu Ren, Yuke Zhu, Jure Leskovec, Anima Anandkumar, Animesh Garg

* UAI 2020 

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Spherical Feature Transform for Deep Metric Learning


Aug 04, 2020
Yuke Zhu, Yan Bai, Yichen Wei

* ECCV2020 

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Adaptive Procedural Task Generation for Hard-Exploration Problems


Jul 01, 2020
Kuan Fang, Yuke Zhu, Silvio Savarese, Li Fei-Fei

* 16 pages, 11 figures 

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