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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
Adaptive Behavior Cloning Regularization for Stable Offline-to-Online Reinforcement Learning Yi Zhao Rinu Boney Alexander Ilin Arno Solin Joni Pajarinen OffRL OnRL 84 40 0 25 Oct 2022
Learning Robust Real-World Dexterous Grasping Policies via Implicit Shape Augmentation Zoey Qiuyu Chen Karl Van Wyk Yu-Wei Chao Wei Yang Arsalan Mousavian Abhishek Gupta Dieter Fox 91 29 0 24 Oct 2022
Implicit Offline Reinforcement Learning via Supervised Learning Alexandre Piché Rafael Pardiñas David Vazquez Igor Mordatch C. Pal SSL OffRL 44 4 0 21 Oct 2022
STAP: Sequencing Task-Agnostic Policies Christopher Agia Toki Migimatsu Jiajun Wu Jeannette Bohg 111 20 0 21 Oct 2022
Learning and Retrieval from Prior Data for Skill-based Imitation Learning Soroush Nasiriany Tian Gao Ajay Mandlekar Yuke Zhu SSL 130 50 0 20 Oct 2022
Planning for Sample Efficient Imitation Learning Zhao-Heng Yin Weirui Ye Qifeng Chen Yang Gao OffRL 89 21 0 18 Oct 2022
Robust Imitation of a Few Demonstrations with a Backwards Model Jung Yeon Park Lawson L. S. Wong 49 6 0 17 Oct 2022
You Only Live Once: Single-Life Reinforcement Learning Annie S. Chen Archit Sharma Sergey Levine Chelsea Finn OffRL 65 20 0 17 Oct 2022
Learning Skills from Demonstrations: A Trend from Motion Primitives to Experience Abstraction Mehrdad Tavassoli S. Katyara Maria Pozzi Nikhil Deshpande D. Caldwell D. Prattichizzo 96 13 0 14 Oct 2022
Abstract-to-Executable Trajectory Translation for One-Shot Task Generalization Stone Tao Xiaochen Li Tongzhou Mu Zhiao Huang Yuzhe Qin Hao Su 68 3 0 14 Oct 2022
Monte Carlo Augmented Actor-Critic for Sparse Reward Deep Reinforcement Learning from Suboptimal Demonstrations Albert Wilcox Ashwin Balakrishna Jules Dedieu Wyame Benslimane Daniel S. Brown Ken Goldberg OffRL 78 20 0 14 Oct 2022
Augmentation for Learning From Demonstration with Environmental Constraints Xing Li Manuel Baum Oliver Brock 55 0 0 13 Oct 2022
Hybrid RL: Using Both Offline and Online Data Can Make RL Efficient Yuda Song Yi Zhou Ayush Sekhari J. Andrew Bagnell A. Krishnamurthy Wen Sun OffRL OnRL 94 105 0 13 Oct 2022
Holo-Dex: Teaching Dexterity with Immersive Mixed Reality Sridhar Pandian Arunachalam Irmak Güzey Soumith Chintala Lerrel Pinto 109 74 0 12 Oct 2022
A Unified Framework for Alternating Offline Model Training and Policy Learning Shentao Yang Shujian Zhang Yihao Feng Mi Zhou OffRL 118 17 0 12 Oct 2022
A Multi-Agent Approach for Adaptive Finger Cooperation in Learning-based In-Hand Manipulation Lingfeng Tao Jiucai Zhang Michael Bowman Xiaoli Zhang 67 6 0 11 Oct 2022
DHRL: A Graph-Based Approach for Long-Horizon and Sparse Hierarchical Reinforcement Learning Seungjae Lee Jigang Kim Inkyu Jang H. J. Kim OffRL 105 13 0 11 Oct 2022
Towards a Theoretical Foundation of Policy Optimization for Learning Control Policies Bin Hu Kai Zhang Na Li M. Mesbahi Maryam Fazel Tamer Bacsar 167 27 0 10 Oct 2022
Flexible Attention-Based Multi-Policy Fusion for Efficient Deep Reinforcement Learning Zih-Yun Chiu Yi-Lin Tuan William Yang Wang Michael C. Yip OffRL 78 5 0 07 Oct 2022
Inferring Smooth Control: Monte Carlo Posterior Policy Iteration with Gaussian Processes Joe Watson Jan Peters 93 16 0 07 Oct 2022
VIP: Towards Universal Visual Reward and Representation via Value-Implicit Pre-Training Yecheng Jason Ma Shagun Sodhani Dinesh Jayaraman Osbert Bastani Vikash Kumar Amy Zhang SSL OffRL 121 306 0 30 Sep 2022
B2RL: An open-source Dataset for Building Batch Reinforcement Learning Hsin-Yu Liu Xiaohan Fu Bharathan Balaji Rajesh E. Gupta Dezhi Hong OffRL 51 4 0 30 Sep 2022
DexTransfer: Real World Multi-fingered Dexterous Grasping with Minimal Human Demonstrations Zoey Qiuyu Chen Karl Van Wyk Yu-Wei Chao Wei Yang Arsalan Mousavian Abhishek Gupta Dieter Fox 101 22 0 28 Sep 2022
Enhanced Meta Reinforcement Learning using Demonstrations in Sparse Reward Environments Desik Rengarajan Sapana Chaudhary JaeWon Kim D. Kalathil S. Shakkottai OffRL 70 2 0 26 Sep 2022
Solving Robot Assembly Tasks by Combining Interactive Teaching and Self-Exploration Mariano Ramírez Montero Giovanni Franzese Jeroen Zwanepol Jens Kober 61 2 0 23 Sep 2022
Learning Dexterous Manipulation from Exemplar Object Trajectories and Pre-Grasps Sudeep Dasari Abhi Gupta Vikash Kumar 111 43 0 22 Sep 2022
An Open Tele-Impedance Framework to Generate Data for Contact-Rich Tasks in Robotic Manipulation A. Giammarino J. Gandarias Arash Ajoudani 60 4 0 21 Sep 2022
Hybrid Learning- and Model-Based Planning and Control of In-Hand Manipulation Rana Soltani-Zarrin K. Yamane Rianna M. Jitosho 78 8 0 20 Sep 2022
Active Predicting Coding: Brain-Inspired Reinforcement Learning for Sparse Reward Robotic Control Problems Alexander Ororbia A. Mali 93 8 0 19 Sep 2022
GenLoco: Generalized Locomotion Controllers for Quadrupedal Robots Gilbert Feng Hongbo Zhang Zhongyu Li Xue Bin Peng Bhuvan Basireddy ... Zhitao Song Lizhi Yang Yunhui Liu Koushil Sreenath Sergey Levine 156 67 0 12 Sep 2022
Signs of Language: Embodied Sign Language Fingerspelling Acquisition from Demonstrations for Human-Robot Interaction Federico Tavella Aphrodite Galata Angelo Cangelosi 55 1 0 12 Sep 2022
Kinova Gemini: Interactive Robot Grasping with Visual Reasoning and Conversational AI Hanxiao Chen Jiankun Wang Max Meng 62 7 0 03 Sep 2022
Some Supervision Required: Incorporating Oracle Policies in Reinforcement Learning via Epistemic Uncertainty Metrics Jun Jet Tai Jordan Terry M. Innocente J. Brusey N. Horri 70 2 0 22 Aug 2022
Robot Policy Learning from Demonstration Using Advantage Weighting and Early Termination A. Mohtasib Gerhard Neumann Heriberto Cuayáhuitl OffRL 81 2 0 31 Jul 2022
Post-processing Networks: Method for Optimizing Pipeline Task-oriented Dialogue Systems using Reinforcement Learning Atsumoto Ohashi Ryuichiro Higashinaka OffRL 49 7 0 25 Jul 2022
Learning Deformable Object Manipulation from Expert Demonstrations G. Salhotra Isabella Liu Marcus Dominguez-Kuhne Gaurav Sukhatme 67 31 0 20 Jul 2022
Discriminator-Weighted Offline Imitation Learning from Suboptimal Demonstrations Haoran Xu Xianyuan Zhan Honglei Yin Huiling Qin OffRL 100 70 0 20 Jul 2022
Learning Continuous Grasping Function with a Dexterous Hand from Human Demonstrations Jianglong Ye Jiashun Wang Binghao Huang Yuzhe Qin Xiaolong Wang 207 56 0 11 Jul 2022
Don't Start From Scratch: Leveraging Prior Data to Automate Robotic Reinforcement Learning Homer Walke Jonathan Yang Albert Yu Aviral Kumar Jedrzej Orbik Avi Singh Sergey Levine OffRL OnRL 92 32 0 11 Jul 2022
DualAfford: Learning Collaborative Visual Affordance for Dual-gripper Manipulation Yan Zhao Ruihai Wu Zhehuan Chen Yourong Zhang Qingnan Fan Kaichun Mo Hao Dong 161 16 0 05 Jul 2022
Safe Decision-making for Lane-change of Autonomous Vehicles via Human Demonstration-aided Reinforcement Learning Jingda Wu Wenhui Huang N. D. Boer Yanghui Mo Xiangkun He Chen Lv 63 16 0 01 Jul 2022
Watch and Match: Supercharging Imitation with Regularized Optimal Transport Siddhant Haldar Vaibhav Mathur Denis Yarats Lerrel Pinto 114 67 0 30 Jun 2022
Dext-Gen: Dexterous Grasping in Sparse Reward Environments with Full Orientation Control Martin Schuck Jan Brüdigam A. Capone Stefan Sosnowski Sandra Hirche 118 1 0 28 Jun 2022
Improving Policy Optimization with Generalist-Specialist Learning Zhiwei Jia Xuanlin Li Z. Ling Shuang Liu Yiran Wu H. Su OffRL 79 25 0 26 Jun 2022
Phasic Self-Imitative Reduction for Sparse-Reward Goal-Conditioned Reinforcement Learning Yunfei Li Tian Gao Jiaqi Yang Huazhe Xu Yi Wu OffRL 100 22 0 24 Jun 2022
Global Planning for Contact-Rich Manipulation via Local Smoothing of Quasi-dynamic Contact Models Tao Pang H.J. Terry Suh Lujie Yang Russ Tedrake 142 106 0 22 Jun 2022
Bootstrapped Transformer for Offline Reinforcement Learning Kerong Wang Hanye Zhao Xufang Luo Kan Ren Weinan Zhang Dongsheng Li OffRL 73 40 0 17 Jun 2022
Double Check Your State Before Trusting It: Confidence-Aware Bidirectional Offline Model-Based Imagination Jiafei Lyu Xiu Li Zongqing Lu OffRL 88 26 0 16 Jun 2022
Regularizing a Model-based Policy Stationary Distribution to Stabilize Offline Reinforcement Learning Shentao Yang Yihao Feng Shujian Zhang Mi Zhou OffRL 98 12 0 14 Jun 2022
Dealing with Sparse Rewards in Continuous Control Robotics via Heavy-Tailed Policies Souradip Chakraborty Amrit Singh Bedi Alec Koppel Pratap Tokekar Tianyi Zhou 81 8 0 12 Jun 2022