Deep Dynamics Models for Learning Dexterous Manipulation

25 September 2019

Vikash Kumar

Papers citing "Deep Dynamics Models for Learning Dexterous Manipulation"

50 / 116 papers shown

Title
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 D. Fox 35 21 0 28 Sep 2022
Learning Dexterous Manipulation from Exemplar Object Trajectories and Pre-Grasps Sudeep Dasari Abhi Gupta Vikash Kumar 52 42 0 22 Sep 2022
Hybrid Learning- and Model-Based Planning and Control of In-Hand Manipulation Rana Soltani-Zarrin K. Yamane Rianna M. Jitosho 46 7 0 20 Sep 2022
Transformers are Adaptable Task Planners Vidhi Jain Yixin Lin Eric Undersander Yonatan Bisk Akshara Rai 25 24 0 06 Jul 2022
DayDreamer: World Models for Physical Robot Learning Philipp Wu Alejandro Escontrela Danijar Hafner Ken Goldberg Pieter Abbeel 49 277 0 28 Jun 2022
MaskViT: Masked Visual Pre-Training for Video Prediction Agrim Gupta Stephen Tian Yunzhi Zhang Jiajun Wu Roberto Martín-Martín Li Fei-Fei 110 110 0 23 Jun 2022
Model-based RL with Optimistic Posterior Sampling: Structural Conditions and Sample Complexity Alekh Agarwal Tong Zhang 44 22 0 15 Jun 2022
Critic Sequential Monte Carlo Vasileios Lioutas J. Lavington Justice Sefas Matthew Niedoba Yunpeng Liu Berend Zwartsenberg Setareh Dabiri Frank D. Wood Adam Scibior 47 7 0 30 May 2022
Learning to Use Chopsticks in Diverse Gripping Styles Zeshi Yang KangKang Yin Libin Liu 22 29 0 28 May 2022
Offline Policy Comparison with Confidence: Benchmarks and Baselines Anurag Koul Mariano Phielipp Alan Fern OffRL 28 0 0 22 May 2022
HandoverSim: A Simulation Framework and Benchmark for Human-to-Robot Object Handovers Yu-Wei Chao Chris Paxton Yu Xiang Wei Yang Balakumar Sundaralingam Tao Chen Adithyavairavan Murali Maya Cakmak D. Fox 62 17 0 19 May 2022
Gradient-Based Trajectory Optimization With Learned Dynamics Bhavya Sukhija Nathanael Kohler Miguel Zamora Simon Zimmermann Sebastian Curi Andreas Krause Stelian Coros 30 9 0 09 Apr 2022
Learning Purely Tactile In-Hand Manipulation with a Torque-Controlled Hand Leon Sievers Johannes Pitz Berthold Bäuml 19 37 0 07 Apr 2022
Learning Generalizable Dexterous Manipulation from Human Grasp Affordance Yueh-hua Wu Jiashun Wang Xiaolong Wang 21 55 0 05 Apr 2022
Dexterous Imitation Made Easy: A Learning-Based Framework for Efficient Dexterous Manipulation Sridhar Pandian Arunachalam Sneha Silwal Ben Evans Lerrel Pinto 35 101 0 24 Mar 2022
Competency Assessment for Autonomous Agents using Deep Generative Models Aastha Acharya Rebecca L. Russell Nisar R. Ahmed 29 10 0 23 Mar 2022
Investigating Compounding Prediction Errors in Learned Dynamics Models Nathan Lambert K. Pister Roberto Calandra AI4CE 14 27 0 17 Mar 2022
Real Robot Challenge 2021: Cartesian Position Control with Triangle Grasp and Trajectory Interpolation Rishabh Madan Harshit S. Sikchi E. Gordon T. Bhattacharjee 16 0 0 16 Mar 2022
Masked Visual Pre-training for Motor Control Tete Xiao Ilija Radosavovic Trevor Darrell Jitendra Malik SSL 34 242 0 11 Mar 2022
Equivariant Transporter Network Hao-zhe Huang Dian Wang Robin G. Walters Robert W. Platt 59 53 0 18 Feb 2022
DexVIP: Learning Dexterous Grasping with Human Hand Pose Priors from Video Priyanka Mandikal Kristen Grauman 141 94 0 01 Feb 2022
TOAST: Trajectory Optimization and Simultaneous Tracking using Shared Neural Network Dynamics Taekyung Kim Hojin Lee S. Hong Wonsuk Lee 19 10 0 20 Jan 2022
UMBRELLA: Uncertainty-Aware Model-Based Offline Reinforcement Learning Leveraging Planning Christopher P. Diehl Timo Sievernich Martin Krüger F. Hoffmann Torsten Bertram OffRL 21 26 0 22 Nov 2021
Generalization in Dexterous Manipulation via Geometry-Aware Multi-Task Learning Wenlong Huang Igor Mordatch Pieter Abbeel Deepak Pathak 37 63 0 04 Nov 2021
A System for General In-Hand Object Re-Orientation Tao Chen Jie Xu Pulkit Agrawal 39 250 0 04 Nov 2021
Dynamic Mirror Descent based Model Predictive Control for Accelerating Robot Learning Utkarsh Aashu Mishra Soumya R. Samineni Prakhar Goel Chandravaran Kunjeti Himanshu Lodha Aman Singh Aditya Sagi S. Bhatnagar Shishir Kolathaya 27 3 0 04 Nov 2021
Accelerating Robotic Reinforcement Learning via Parameterized Action Primitives Murtaza Dalal Deepak Pathak Ruslan Salakhutdinov 32 90 0 28 Oct 2021
Which Model to Trust: Assessing the Influence of Models on the Performance of Reinforcement Learning Algorithms for Continuous Control Tasks Giacomo Arcieri David Wölfle Eleni Chatzi OffRL 27 5 0 25 Oct 2021
Policy Search using Dynamic Mirror Descent MPC for Model Free Off Policy RL Aarush Gupta 25 0 0 23 Oct 2021
Evaluating model-based planning and planner amortization for continuous control Arunkumar Byravan Leonard Hasenclever Piotr Trochim M. Berk Mirza Alessandro Davide Ialongo ... Jost Tobias Springenberg A. Abdolmaleki N. Heess J. Merel Martin Riedmiller 55 17 0 07 Oct 2021
Entropy Regularised Deterministic Optimal Control: From Path Integral Solution to Sample-Based Trajectory Optimisation Tom Lefebvre Guillaume Crevecoeur 19 6 0 06 Oct 2021
Imaginary Hindsight Experience Replay: Curious Model-based Learning for Sparse Reward Tasks Robert McCarthy Qiang Wang S. Redmond OffRL 27 15 0 05 Oct 2021
Solving the Real Robot Challenge using Deep Reinforcement Learning Robert McCarthy Francisco Roldan Sanchez Qiang Wang David Córdova Bulens Kevin McGuinness Noel E. O'Connor S. Redmond 27 11 0 30 Sep 2021
Learning Dynamics Models for Model Predictive Agents M. Lutter Leonard Hasenclever Arunkumar Byravan Gabriel Dulac-Arnold Piotr Trochim N. Heess J. Merel Yuval Tassa AI4CE 57 26 0 29 Sep 2021
TrajectoTree: Trajectory Optimization Meets Tree Search for Planning Multi-contact Dexterous Manipulation Claire Chen Preston Culbertson Marion Lepert Mac Schwager Jeannette Bohg 27 35 0 28 Sep 2021
Deep Reinforcement Learning Versus Evolution Strategies: A Comparative Survey Amjad Yousef Majid Serge Saaybi Tomas van Rietbergen Vincent François-Lavet R. V. Prasad Chris Verhoeven OffRL 60 54 0 28 Sep 2021
Bundled Gradients through Contact via Randomized Smoothing H. Suh Tao Pang Russ Tedrake 83 52 0 11 Sep 2021
Long-Horizon Manipulation of Unknown Objects via Task and Motion Planning with Estimated Affordances Aidan Curtis Xiaolin Fang L. Kaelbling Tomás Lozano-Pérez Caelan Reed Garrett 152 63 0 09 Aug 2021
Physics-informed Dyna-Style Model-Based Deep Reinforcement Learning for Dynamic Control Xin-Yang Liu Jian-Xun Wang AI4CE 23 38 0 31 Jul 2021
Visual Adversarial Imitation Learning using Variational Models Rafael Rafailov Tianhe Yu Aravind Rajeswaran Chelsea Finn SSL 28 49 0 16 Jul 2021
An End-to-End Differentiable Framework for Contact-Aware Robot Design Jie Xu Tao Chen Lara Zlokapa Michael Foshey Wojciech Matusik Shinjiro Sueda Pulkit Agrawal 27 88 0 15 Jul 2021
Deformable Elasto-Plastic Object Shaping using an Elastic Hand and Model-Based Reinforcement Learning Carolyn Matl R. Bajcsy 25 21 0 14 Jul 2021
Applications of the Free Energy Principle to Machine Learning and Neuroscience Beren Millidge DRL 20 7 0 30 Jun 2021
Behavioral Priors and Dynamics Models: Improving Performance and Domain Transfer in Offline RL Catherine Cang Aravind Rajeswaran Pieter Abbeel Michael Laskin OffRL 19 29 0 16 Jun 2021
Offline Reinforcement Learning as One Big Sequence Modeling Problem Michael Janner Qiyang Li Sergey Levine OffRL 66 645 0 03 Jun 2021
MBRL-Lib: A Modular Library for Model-based Reinforcement Learning Luis Pineda Brandon Amos Amy Zhang Nathan Lambert Roberto Calandra OffRL 25 46 0 20 Apr 2021
Actionable Models: Unsupervised Offline Reinforcement Learning of Robotic Skills Yevgen Chebotar Karol Hausman Yao Lu Ted Xiao Dmitry Kalashnikov ... A. Irpan Benjamin Eysenbach Ryan Julian Chelsea Finn Sergey Levine SSL OffRL 32 146 0 15 Apr 2021
GEM: Group Enhanced Model for Learning Dynamical Control Systems Philippe Hansen-Estruch Wenling Shang Lerrel Pinto Pieter Abbeel Stas Tiomkin AI4CE 30 2 0 07 Apr 2021
Fundamental Challenges in Deep Learning for Stiff Contact Dynamics Mihir Parmar Mathew Halm Michael Posa 29 36 0 29 Mar 2021
Learning Accurate Long-term Dynamics for Model-based Reinforcement Learning Nathan Lambert Albert Wilcox Howard Zhang K. Pister Roberto Calandra 17 32 0 16 Dec 2020