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Learning Complex Dexterous Manipulation with Deep Reinforcement Learning and Demonstrations

28 September 2017

Aravind Rajeswaran

Vikash Kumar

Abhishek Gupta

Papers citing "Learning Complex Dexterous Manipulation with Deep Reinforcement Learning and Demonstrations"

50 / 708 papers shown

Title
Manipulate by Seeing: Creating Manipulation Controllers from Pre-Trained Representations Jianren Wang Sudeep Dasari Mohan Kumar Srirama Shubham Tulsiani Abhi Gupta SSL 105 15 0 14 Mar 2023
Learning to Transfer In-Hand Manipulations Using a Greedy Shape Curriculum Yunbo Zhang Alexander Clegg Sehoon Ha Greg Turk Yuting Ye 106 10 0 14 Mar 2023
Adaptive Policy Learning for Offline-to-Online Reinforcement Learning Han Zheng Xufang Luo Pengfei Wei Xuan Song Dongsheng Li Jing Jiang OffRL OnRL 69 24 0 14 Mar 2023
Cherry-Picking with Reinforcement Learning : Robust Dynamic Grasping in Unstable Conditions Yunchu Zhang Liyiming Ke Abhay Deshpande Abhishek Gupta S. Srinivasa OffRL 76 9 0 09 Mar 2023
Cal-QL: Calibrated Offline RL Pre-Training for Efficient Online Fine-Tuning Mitsuhiko Nakamoto Yuexiang Zhai Anika Singh Max Sobol Mark Yi-An Ma Chelsea Finn Aviral Kumar Sergey Levine OffRL OnRL 188 125 0 09 Mar 2023
Dexterous In-hand Manipulation by Guiding Exploration with Simple Sub-skill Controllers Gagan Khandate C. Mehlman Xingsheng Wei M. Ciocarlie 55 3 0 06 Mar 2023
Teach a Robot to FISH: Versatile Imitation from One Minute of Demonstrations Siddhant Haldar Jyothish Pari A. Rai Lerrel Pinto 99 74 0 02 Mar 2023
Self-Improving Robots: End-to-End Autonomous Visuomotor Reinforcement Learning Archit Sharma Ahmed M. Ahmed Rehaan Ahmad Chelsea Finn SSL 133 18 0 02 Mar 2023
UniDexGrasp: Universal Robotic Dexterous Grasping via Learning Diverse Proposal Generation and Goal-Conditioned Policy Yinzhen Xu Weikang Wan Jialiang Zhang Haoran Liu Zikang Shan ... Yijia Weng Jiayi Chen Tengyu Liu Li Yi He Wang 187 120 0 02 Mar 2023
The Virtues of Laziness in Model-based RL: A Unified Objective and Algorithms Anirudh Vemula Yuda Song Aarti Singh J. Andrew Bagnell Sanjiban Choudhury OffRL 83 14 0 01 Mar 2023
Demonstration-Guided Reinforcement Learning with Efficient Exploration for Task Automation of Surgical Robot Tao Huang Kai-xiang Chen Bin Li Yunhui Liu Qingxu Dou 78 23 0 20 Feb 2023
Conservative State Value Estimation for Offline Reinforcement Learning Liting Chen Jie Yan Zhengdao Shao Lu Wang Qingwei Lin Saravan Rajmohan Thomas Moscibroda Dongmei Zhang OffRL 66 6 0 14 Feb 2023
Online Safety Property Collection and Refinement for Safe Deep Reinforcement Learning in Mapless Navigation Luca Marzari Enrico Marchesini Alessandro Farinelli OffRL 60 12 0 13 Feb 2023
ManiSkill2: A Unified Benchmark for Generalizable Manipulation Skills Jiayuan Gu Fanbo Xiang Xuanlin Li Z. Ling Xiqiang Liu ... Xiao Yuan P. Xie Zhiao Huang Rui Chen Hao Su 120 189 0 09 Feb 2023
Efficient Online Reinforcement Learning with Offline Data Philip J. Ball Laura M. Smith Ilya Kostrikov Sergey Levine OffRL OnRL 147 184 0 06 Feb 2023
Accelerating Policy Gradient by Estimating Value Function from Prior Computation in Deep Reinforcement Learning Hassam Sheikh Mariano Phielipp OffRL 64 6 0 02 Feb 2023
Policy Expansion for Bridging Offline-to-Online Reinforcement Learning Haichao Zhang Weiwen Xu Haonan Yu CLL OffRL OnRL 118 69 0 02 Feb 2023
ACPO: A Policy Optimization Algorithm for Average MDPs with Constraints Akhil Agnihotri R. Jain Haipeng Luo 110 2 0 02 Feb 2023
Guided Deep Reinforcement Learning for Articulated Swimming Robots Jiaheng Hu Tony Dear 43 3 0 30 Jan 2023
Direct Preference-based Policy Optimization without Reward Modeling Gaon An Junhyeok Lee Xingdong Zuo Norio Kosaka KyungHyun Kim Hyun Oh Song OffRL 74 29 0 30 Jan 2023
Constrained Reinforcement Learning for Dexterous Manipulation A. Jain Jack Kolb Harish Ravichandar 41 2 0 24 Jan 2023
NeRF in the Palm of Your Hand: Corrective Augmentation for Robotics via Novel-View Synthesis Allan Zhou Moo Jin Kim Lirui Wang Peter R. Florence Chelsea Finn 103 50 0 18 Jan 2023
PIRLNav: Pretraining with Imitation and RL Finetuning for ObjectNav Ram Ramrakhya Dhruv Batra Erik Wijmans Abhishek Das OffRL 148 61 0 18 Jan 2023
Sim2real Transfer Learning for Point Cloud Segmentation: An Industrial Application Case on Autonomous Disassembly Chengzhi Wu Xuelei Bi Julius Pfrommer Alexander Cebulla Simon Mangold Jürgen Beyerer 3DPC 88 23 0 12 Jan 2023
Learning from Guided Play: Improving Exploration for Adversarial Imitation Learning with Simple Auxiliary Tasks Trevor Ablett Bryan Chan Jonathan Kelly 129 10 0 30 Dec 2022
On Pathologies in KL-Regularized Reinforcement Learning from Expert Demonstrations Tim G. J. Rudner Cong Lu Michael A. Osborne Yarin Gal Yee Whye Teh OffRL 91 27 0 28 Dec 2022
Imitation Is Not Enough: Robustifying Imitation with Reinforcement Learning for Challenging Driving Scenarios Yiren Lu Justin Fu George Tucker Xinlei Pan Eli Bronstein ... Brandyn White Aleksandra Faust Shimon Whiteson Drago Anguelov Sergey Levine OffRL 111 97 0 21 Dec 2022
Dexterous Manipulation from Images: Autonomous Real-World RL via Substep Guidance Kelvin Xu Zheyuan Hu Ria Doshi Aaron Rovinsky Vikash Kumar Abhishek Gupta Sergey Levine 96 22 0 19 Dec 2022
Training Robots to Evaluate Robots: Example-Based Interactive Reward Functions for Policy Learning Kun-Yen Huang E. Hu Dinesh Jayaraman OffRL 111 5 0 17 Dec 2022
Cross-Domain Transfer via Semantic Skill Imitation Karl Pertsch Ruta Desai Vikash Kumar Franziska Meier Joseph J. Lim Dhruv Batra Akshara Rai LM&Ro 69 19 0 14 Dec 2022
Safety Correction from Baseline: Towards the Risk-aware Policy in Robotics via Dual-agent Reinforcement Learning Linrui Zhang Zichen Yan Li Shen Shoujie Li Xueqian Wang Dacheng Tao OffRL OnRL 83 3 0 14 Dec 2022
On Pre-Training for Visuo-Motor Control: Revisiting a Learning-from-Scratch Baseline Nicklas Hansen Zhecheng Yuan Yanjie Ze Tongzhou Mu Aravind Rajeswaran H. Su Huazhe Xu Xiaolong Wang 87 66 0 12 Dec 2022
MoDem: Accelerating Visual Model-Based Reinforcement Learning with Demonstrations Nicklas Hansen Yixin Lin H. Su Xiaolong Wang Vikash Kumar Aravind Rajeswaran OffRL 77 51 0 12 Dec 2022
HERD: Continuous Human-to-Robot Evolution for Learning from Human Demonstration Xingyu Liu Deepak Pathak Kris Kitani 73 7 0 08 Dec 2022
Model-based trajectory stitching for improved behavioural cloning and its applications Charles A. Hepburn Giovanni Montana OffRL 81 7 0 08 Dec 2022
Accelerating Interactive Human-like Manipulation Learning with GPU-based Simulation and High-quality Demonstrations Malte Mosbach Kara Moraw Sven Behnke 78 14 0 05 Dec 2022
Reinforcement learning with Demonstrations from Mismatched Task under Sparse Reward Yanjiang Guo Jingyue Gao Zheng Wu Chengming Shi Jianyu Chen OffRL 90 5 0 03 Dec 2022
Visual Dexterity: In-Hand Reorientation of Novel and Complex Object Shapes Tao Chen Megha H. Tippur Siyang Wu Vikash Kumar Edward H. Adelson Pulkit Agrawal 91 119 0 21 Nov 2022
Model-based Trajectory Stitching for Improved Offline Reinforcement Learning Charles A. Hepburn Giovanni Montana OffRL 84 14 0 21 Nov 2022
Efficient Representations of Object Geometry for Reinforcement Learning of Interactive Grasping Policies Malte Mosbach Sven Behnke 50 4 0 20 Nov 2022
DexPoint: Generalizable Point Cloud Reinforcement Learning for Sim-to-Real Dexterous Manipulation Yuzhe Qin Binghao Huang Zhao-Heng Yin Hao Su Xiaolong Wang 3DPC 75 79 0 17 Nov 2022
Offline Reinforcement Learning with Adaptive Behavior Regularization Yunfan Zhou Xijun Li Qingyu Qu OffRL 78 1 0 15 Nov 2022
Multi-Finger Grasping Like Humans Yuming Du Philippe Weinzaepfel Vincent Lepetit Romain Brégier 71 6 0 14 Nov 2022
Leveraging Offline Data in Online Reinforcement Learning Andrew Wagenmaker Aldo Pacchiano OffRL OnRL 103 41 0 09 Nov 2022
Pretraining in Deep Reinforcement Learning: A Survey Zhihui Xie Zichuan Lin Junyou Li Shuai Li Deheng Ye OffRL OnRL AI4CE 81 23 0 08 Nov 2022
Mixline: A Hybrid Reinforcement Learning Framework for Long-horizon Bimanual Coffee Stirring Task Zheng Sun Zhiqi Wang Junjia Liu Miao Li Fei Chen 58 4 0 04 Nov 2022
Behavior Prior Representation learning for Offline Reinforcement Learning Hongyu Zang Xin Li Jie Yu Chen Liu Riashat Islam Rémi Tachet des Combes Romain Laroche OffRL OnRL 104 10 0 02 Nov 2022
Dungeons and Data: A Large-Scale NetHack Dataset Eric Hambro Roberta Raileanu Dan Rothermel Vegard Mella Tim Rocktaschel Heinrich Küttler Naila Murray OffRL 237 19 0 01 Nov 2022
Agent-Controller Representations: Principled Offline RL with Rich Exogenous Information Riashat Islam Manan Tomar Alex Lamb Yonathan Efroni Hongyu Zang ... Dipendra Kumar Misra Xin-hui Li H. V. Seijen Rémi Tachet des Combes John Langford OffRL 61 7 0 31 Oct 2022
All the Feels: A dexterous hand with large-area tactile sensing Raunaq M. Bhirangi Abigail DeFranco Jacob Adkins Carmel Majidi Abhi Gupta Tess Hellebrekers Vikash Kumar 117 14 0 27 Oct 2022