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Quasi-Direct Drive for Low-Cost Compliant Robotic Manipulation

Apr 11, 2019
David V. Gealy, Stephen McKinley, Brent Yi, Philipp Wu, Phillip R. Downey, Greg Balke, Allan Zhao, Menglong Guo, Rachel Thomasson, Anthony Sinclair, Peter Cuellar, Zoe McCarthy, Pieter Abbeel

* This is our long version - 8 pages. Our 6 page version without a discussion of thermal limits was accepted to ICRA 2019. 11 Figures 

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Deep Imitation Learning for Complex Manipulation Tasks from Virtual Reality Teleoperation

Mar 06, 2018
Tianhao Zhang, Zoe McCarthy, Owen Jow, Dennis Lee, Xi Chen, Ken Goldberg, Pieter Abbeel

* First two authors contributed equally. Video available at 

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Probabilistically Safe Policy Transfer

May 15, 2017
David Held, Zoe McCarthy, Michael Zhang, Fred Shentu, Pieter Abbeel

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Learning Deep Neural Network Policies with Continuous Memory States

Sep 23, 2015
Marvin Zhang, Zoe McCarthy, Chelsea Finn, Sergey Levine, Pieter Abbeel

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