Composable Energy Policies for Reactive Motion Generation and Reinforcement Learning

11 May 2021

Puze Liu

Jan Peters

Papers citing "Composable Energy Policies for Reactive Motion Generation and Reinforcement Learning"

42 / 42 papers shown

Title
Accelerating Robotic Reinforcement Learning via Parameterized Action Primitives Murtaza Dalal Deepak Pathak Ruslan Salakhutdinov 85 92 0 28 Oct 2021
RMPs for Safe Impedance Control in Contact-Rich Manipulation S. Shaw Ben Abbatematteo George Konidaris 45 13 0 24 Sep 2021
Implicit Behavioral Cloning Peter R. Florence Corey Lynch Andy Zeng Oscar Ramirez Ayzaan Wahid Laura Downs Adrian S. Wong Johnny Lee Igor Mordatch Jonathan Tompson OffRL 91 378 0 01 Sep 2021
Value Iteration in Continuous Actions, States and Time M. Lutter Shie Mannor Jan Peters Dieter Fox Animesh Garg 24 36 0 10 May 2021
Benchmarking Structured Policies and Policy Optimization for Real-World Dexterous Object Manipulation Niklas Funk Charles B. Schaff Rishabh Madan Takuma Yoneda Julen Urain De Jesus ... Stefan Bauer S. Srinivasa Tapomayukh Bhattacharjee Matthew R. Walter Jan Peters 63 35 0 05 May 2021
STORM: An Integrated Framework for Fast Joint-Space Model-Predictive Control for Reactive Manipulation M. Bhardwaj Balakumar Sundaralingam Arsalan Mousavian Nathan D. Ratliff Dieter Fox Fabio Ramos Byron Boots 35 111 0 28 Apr 2021
RMP2: A Structured Composable Policy Class for Robot Learning Anqi Li Ching-An Cheng M. A. Rana Mandy Xie Karl Van Wyk Nathan D. Ratliff Byron Boots 37 18 0 10 Mar 2021
Composable Geometric Motion Policies using Multi-Task Pullback Bundle Dynamical Systems Andrew Bylard Riccardo Bonalli Marco Pavone 30 13 0 05 Jan 2021
Neural Dynamic Policies for End-to-End Sensorimotor Learning Shikhar Bahl Mustafa Mukadam Abhinav Gupta Deepak Pathak 34 83 0 04 Dec 2020
Parrot: Data-Driven Behavioral Priors for Reinforcement Learning Avi Singh Huihan Liu G. Zhou Albert Yu Nicholas Rhinehart Sergey Levine OffRL OnRL 46 140 0 19 Nov 2020
Stein Variational Model Predictive Control Alexander Lambert Adam Fishman Dieter Fox Byron Boots F. Ramos 56 59 0 15 Nov 2020
Learning Vision-based Reactive Policies for Obstacle Avoidance Elie Aljalbout Ji Chen Konstantin Ritt Maximilian Ulmer Sami Haddadin 26 21 0 30 Oct 2020
Geometric Fabrics for the Acceleration-based Design of Robotic Motion Mandy Xie Karl Van Wyk Anqi Li M. A. Rana Qian Wan Dieter Fox Byron Boots Nathan D. Ratliff AI4CE 13 21 0 28 Oct 2020
Generalized Nonlinear and Finsler Geometry for Robotics Nathan D. Ratliff Karl Van Wyk Mandy Xie Anqi Li M. A. Rana AI4CE 47 27 0 28 Oct 2020
ImitationFlow: Learning Deep Stable Stochastic Dynamic Systems by Normalizing Flows Julen Urain M. Ginesi Davide Tateo Jan Peters AI4CE 49 58 0 25 Oct 2020
Accelerating Reinforcement Learning with Learned Skill Priors Karl Pertsch Youngwoon Lee Joseph J. Lim OffRL OnRL 80 236 0 22 Oct 2020
Optimization Fabrics Nathan D. Ratliff Karl Van Wyk Mandy Xie Anqi Li M. A. Rana AI4CE 17 13 0 05 Aug 2020
A Distributional View on Multi-Objective Policy Optimization A. Abdolmaleki Sandy H. Huang Leonard Hasenclever Michael Neunert H. F. Song Martina Zambelli M. Martins N. Heess R. Hadsell Martin Riedmiller 38 75 0 15 May 2020
Compositional Visual Generation and Inference with Energy Based Models Yilun Du Shuang Li Igor Mordatch CoGe 44 23 0 13 Apr 2020
Residual Policy Learning for Shared Autonomy Charles B. Schaff Matthew R. Walter 88 40 0 10 Apr 2020
A Boolean Task Algebra for Reinforcement Learning Geraud Nangue Tasse Steven D. James Benjamin Rosman 36 54 0 06 Jan 2020
MushroomRL: Simplifying Reinforcement Learning Research Carlo DÉramo Davide Tateo Andrea Bonarini Marcello Restelli Jan Peters OffRL 36 84 0 04 Jan 2020
Stochastic Optimal Control as Approximate Input Inference Joe Watson Hany Abdulsamad Jan Peters 27 38 0 07 Oct 2019
MCP: Learning Composable Hierarchical Control with Multiplicative Compositional Policies Xue Bin Peng Michael Chang Grace Zhang Pieter Abbeel Sergey Levine 47 195 0 23 May 2019
DeepSDF: Learning Continuous Signed Distance Functions for Shape Representation Jeong Joon Park Peter R. Florence Julian Straub Richard Newcombe S. Lovegrove 3DV 95 3,654 0 16 Jan 2019
Residual Policy Learning Tom Silver Kelsey R. Allen J. Tenenbaum L. Kaelbling OffRL 58 174 0 15 Dec 2018
Residual Reinforcement Learning for Robot Control T. Johannink Shikhar Bahl Ashvin Nair Jianlan Luo Avinash Kumar M. Loskyll J. A. Ojea Eugen Solowjow Sergey Levine OffRL 58 412 0 07 Dec 2018
A micro Lie theory for state estimation in robotics J. Solà Jeremie Deray Dinesh Atchuthan 27 403 0 04 Dec 2018
RMPflow: A Computational Graph for Automatic Motion Policy Generation Ching-An Cheng Mustafa Mukadam J. Issac Stan Birchfield Dieter Fox Byron Boots Nathan D. Ratliff 25 82 0 16 Nov 2018
Making Sense of Vision and Touch: Self-Supervised Learning of Multimodal Representations for Contact-Rich Tasks Michelle A. Lee Yuke Zhu K. Srinivasan Parth Shah Silvio Savarese Li Fei-Fei Animesh Garg Jeannette Bohg SSL 64 369 0 24 Oct 2018
Reinforcement Learning and Control as Probabilistic Inference: Tutorial and Review Sergey Levine AI4CE BDL 57 667 0 02 May 2018
Composable Deep Reinforcement Learning for Robotic Manipulation Tuomas Haarnoja Vitchyr H. Pong Aurick Zhou Murtaza Dalal Pieter Abbeel Sergey Levine 103 232 0 19 Mar 2018
Addressing Function Approximation Error in Actor-Critic Methods Scott Fujimoto H. V. Hoof David Meger OffRL 157 5,121 0 26 Feb 2018
Riemannian Motion Policies Nathan D. Ratliff J. Issac Daniel Kappler Stan Birchfield Dieter Fox 29 145 0 09 Jan 2018
Soft Actor-Critic: Off-Policy Maximum Entropy Deep Reinforcement Learning with a Stochastic Actor Tuomas Haarnoja Aurick Zhou Pieter Abbeel Sergey Levine 227 8,236 0 04 Jan 2018
Continuous-Time Gaussian Process Motion Planning via Probabilistic Inference Mustafa Mukadam Jing Dong Xinyan Yan F. Dellaert Byron Boots GP 40 214 0 24 Jul 2017
Proximal Policy Optimization Algorithms John Schulman Filip Wolski Prafulla Dhariwal Alec Radford Oleg Klimov OffRL 243 18,685 0 20 Jul 2017
Stochastic Neural Networks for Hierarchical Reinforcement Learning Carlos Florensa Yan Duan Pieter Abbeel BDL 67 360 0 10 Apr 2017
Real-time Perception meets Reactive Motion Generation Daniel Kappler Franziska Meier J. Issac Jim Mainprice C. Cifuentes Manuel Wüthrich V. Berenz S. Schaal Nathan D. Ratliff Jeannette Bohg 37 98 0 10 Mar 2017
Reinforcement Learning with Deep Energy-Based Policies Tuomas Haarnoja Haoran Tang Pieter Abbeel Sergey Levine 62 1,329 0 27 Feb 2017
Learning and Transfer of Modulated Locomotor Controllers N. Heess Greg Wayne Yuval Tassa Timothy Lillicrap Martin Riedmiller David Silver 57 207 0 17 Oct 2016
Continuous control with deep reinforcement learning Timothy Lillicrap Jonathan J. Hunt Alexander Pritzel N. Heess Tom Erez Yuval Tassa David Silver Daan Wierstra 210 13,174 0 09 Sep 2015