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Discovering Synergies for Robot Manipulation with Multi-Task Reinforcement Learning


Oct 04, 2021
Zhanpeng He, Matei Ciocarlie


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UMPNet: Universal Manipulation Policy Network for Articulated Objects


Sep 19, 2021
Zhenjia Xu, Zhanpeng He, Shuran Song


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Learning 3D Dynamic Scene Representations for Robot Manipulation


Nov 03, 2020
Zhenjia Xu, Zhanpeng He, Jiajun Wu, Shuran Song

* CoRL 2020. The first two authors contributed equally to this paper. Project page: https://dsr-net.cs.columbia.edu/ 

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Hardware as Policy: Mechanical and Computational Co-Optimization using Deep Reinforcement Learning


Aug 11, 2020
Tianjian Chen, Zhanpeng He, Matei Ciocarlie

* Submitted to Conference on Robot Learning (CoRL) 2020 

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SQUIRL: Robust and Efficient Learning from Video Demonstration of Long-Horizon Robotic Manipulation Tasks


Mar 10, 2020
Bohan Wu, Feng Xu, Zhanpeng He, Abhi Gupta, Peter K. Allen

* 8 pages 

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Meta-World: A Benchmark and Evaluation for Multi-Task and Meta Reinforcement Learning


Oct 24, 2019
Tianhe Yu, Deirdre Quillen, Zhanpeng He, Ryan Julian, Karol Hausman, Chelsea Finn, Sergey Levine

* CoRL 2019. Videos are here: meta-world.github.io and open-sourced codes are available at: https://github.com/rlworkgroup/metaworld 

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Scaling simulation-to-real transfer by learning composable robot skills


Nov 13, 2018
Ryan Julian, Eric Heiden, Zhanpeng He, Hejia Zhang, Stefan Schaal, Joseph J. Lim, Gaurav Sukhatme, Karol Hausman

* Presented at ISER 2018. See https://www.youtube.com/watch?v=Syr2RQTHqTs for supplemental video 

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Zero-Shot Skill Composition and Simulation-to-Real Transfer by Learning Task Representations


Nov 13, 2018
Zhanpeng He, Ryan Julian, Eric Heiden, Hejia Zhang, Stefan Schaal, Joseph J. Lim, Gaurav Sukhatme, Karol Hausman

* Submitted to ICRA 2019. See https://youtu.be/te4JWe7LPKw for supplemental video 

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