Distilling Morphology-Conditioned Hypernetworks for Efficient Universal Morphology Control

9 February 2024

Papers citing "Distilling Morphology-Conditioned Hypernetworks for Efficient Universal Morphology Control"

46 / 46 papers shown

Title
SARA-RT: Scaling up Robotics Transformers with Self-Adaptive Robust Attention Isabel Leal Krzysztof Choromanski Deepali Jain Kumar Avinava Dubey Jake Varley ... Q. Vuong Tamás Sarlós Kenneth Oslund Karol Hausman Kanishka Rao 94 10 0 04 Dec 2023
One-for-All: Bridge the Gap Between Heterogeneous Architectures in Knowledge Distillation Zhiwei Hao Jianyuan Guo Kai Han Yehui Tang Han Hu Yunhe Wang Chang Xu 79 64 0 30 Oct 2023
Open X-Embodiment: Robotic Learning Datasets and RT-X Models Open X-Embodiment Collaboration Abby OÑeill Abdul Rehman Abhinav Gupta Abhiram Maddukuri ... Zhuo Xu Zichen Jeff Cui Zichen Zhang Zipeng Fu Zipeng Lin LM&Ro 142 504 0 13 Oct 2023
Recurrent Hypernetworks are Surprisingly Strong in Meta-RL Jacob Beck Risto Vuorio Zheng Xiong Shimon Whiteson 79 10 0 26 Sep 2023
RT-2: Vision-Language-Action Models Transfer Web Knowledge to Robotic Control Anthony Brohan Noah Brown Justice Carbajal Yevgen Chebotar Xi Chen ... Ted Xiao Peng Xu Sichun Xu Tianhe Yu Brianna Zitkovich LM&Ro LRM 119 1,231 0 28 Jul 2023
Subequivariant Graph Reinforcement Learning in 3D Environments Runfa Chen Jiaqi Han Gang Hua Wen-bing Huang OffRL 57 11 0 30 May 2023
UniDexGrasp++: Improving Dexterous Grasping Policy Learning via Geometry-aware Curriculum and Iterative Generalist-Specialist Learning Weikang Wan Haoran Geng Yun-Hai Liu Zikang Shan Yaodong Yang Li Yi He Wang 74 99 0 02 Apr 2023
GPT-4 Technical Report OpenAI OpenAI OpenAI Josh Achiam Steven Adler Sandhini Agarwal Lama Ahmad ... Shengjia Zhao Tianhao Zheng Juntang Zhuang William Zhuk Barret Zoph LLMAG MLLM 1.3K 14,289 0 15 Mar 2023
Scaling Vision-Language Models with Sparse Mixture of Experts Sheng Shen Z. Yao Chunyuan Li Trevor Darrell Kurt Keutzer Yuxiong He VLM MoE 33 64 0 13 Mar 2023
Universal Morphology Control via Contextual Modulation Zheng Xiong Jacob Beck Shimon Whiteson 67 14 0 22 Feb 2023
RT-1: Robotics Transformer for Real-World Control at Scale Anthony Brohan Noah Brown Justice Carbajal Yevgen Chebotar Joseph Dabis ... Ted Xiao Peng Xu Sichun Xu Tianhe Yu Brianna Zitkovich LM&Ro 83 1,108 0 13 Dec 2022
Hypernetworks for Zero-shot Transfer in Reinforcement Learning S. Rezaei-Shoshtari Charlotte Morissette F. Hogan Gregory Dudek David Meger OffRL 55 14 0 28 Nov 2022
A System for Morphology-Task Generalization via Unified Representation and Behavior Distillation Hiroki Furuta Yusuke Iwasawa Yutaka Matsuo S. Gu 43 16 0 25 Nov 2022
Low-Rank Modular Reinforcement Learning via Muscle Synergy Heng Dong Tonghan Wang Jiayuan Liu Chongjie Zhang 99 18 0 26 Oct 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 129 63 0 12 Sep 2022
AnyMorph: Learning Transferable Polices By Inferring Agent Morphology Brandon Trabucco Mariano Phielipp Glen Berseth 44 28 0 17 Jun 2022
MetaMorph: Learning Universal Controllers with Transformers Agrim Gupta Linxi Fan Surya Ganguli Li Fei-Fei LM&Ro 45 95 0 22 Mar 2022
A System for General In-Hand Object Re-Orientation Tao Chen Jie Xu Pulkit Agrawal 92 253 0 04 Nov 2021
Recomposing the Reinforcement Learning Building Blocks with Hypernetworks Shai Keynan Elad Sarafian Sarit Kraus OffRL 54 29 0 12 Jun 2021
Scaling Vision with Sparse Mixture of Experts C. Riquelme J. Puigcerver Basil Mustafa Maxim Neumann Rodolphe Jenatton André Susano Pinto Daniel Keysers N. Houlsby MoE 101 600 0 10 Jun 2021
Bayesian Meta-Learning for Few-Shot Policy Adaptation Across Robotic Platforms Ali Ghadirzadeh Xi Chen Petra Poklukar Chelsea Finn Mårten Björkman Danica Kragic BDL 79 40 0 05 Mar 2021
Embodied Intelligence via Learning and Evolution Agrim Gupta Silvio Savarese Surya Ganguli Li Fei-Fei AI4CE 81 246 0 03 Feb 2021
Linear Representation Meta-Reinforcement Learning for Instant Adaptation Matt Peng Banghua Zhu Jiantao Jiao 62 9 0 12 Jan 2021
Emergent Complexity and Zero-shot Transfer via Unsupervised Environment Design Michael Dennis Natasha Jaques Eugene Vinitsky Alexandre M. Bayen Stuart J. Russell Andrew Critch Sergey Levine 75 234 0 03 Dec 2020
Learning Quadrupedal Locomotion over Challenging Terrain Joonho Lee Jemin Hwangbo Lorenz Wellhausen V. Koltun Marco Hutter 120 1,170 0 21 Oct 2020
My Body is a Cage: the Role of Morphology in Graph-Based Incompatible Control Vitaly Kurin Maximilian Igl Tim Rocktaschel Wendelin Boehmer Shimon Whiteson AI4CE 67 91 0 05 Oct 2020
One Policy to Control Them All: Shared Modular Policies for Agent-Agnostic Control Wenlong Huang Igor Mordatch Deepak Pathak 96 177 0 09 Jul 2020
Transient Non-Stationarity and Generalisation in Deep Reinforcement Learning Maximilian Igl Gregory Farquhar Jelena Luketina Wendelin Boehmer Shimon Whiteson 49 88 0 10 Jun 2020
Curriculum Learning for Reinforcement Learning Domains: A Framework and Survey Sanmit Narvekar Bei Peng Matteo Leonetti Jivko Sinapov Matthew E. Taylor Peter Stone ODL 226 474 0 10 Mar 2020
Measuring and Relieving the Over-smoothing Problem for Graph Neural Networks from the Topological View Deli Chen Yankai Lin Wei Li Peng Li Jie Zhou Xu Sun 80 1,106 0 07 Sep 2019
Learning to Control Self-Assembling Morphologies: A Study of Generalization via Modularity Deepak Pathak Chris Xiaoxuan Lu Trevor Darrell Phillip Isola Alexei A. Efros 42 135 0 14 Feb 2019
Distilling Policy Distillation Wojciech M. Czarnecki Razvan Pascanu Simon Osindero Siddhant M. Jayakumar G. Swirszcz Max Jaderberg 59 133 0 06 Feb 2019
A Comprehensive Survey on Graph Neural Networks Zonghan Wu Shirui Pan Fengwen Chen Guodong Long Chengqi Zhang Philip S. Yu FaML GNN AI4TS AI4CE 750 8,517 0 03 Jan 2019
Quantifying Generalization in Reinforcement Learning K. Cobbe Oleg Klimov Christopher Hesse Taehoon Kim John Schulman OffRL 91 670 0 06 Dec 2018
Learning Dexterous In-Hand Manipulation OpenAI OpenAI Marcin Andrychowicz Bowen Baker Maciek Chociej Rafal Jozefowicz ... Szymon Sidor Joshua Tobin Peter Welinder Lilian Weng Wojciech Zaremba 127 1,877 0 01 Aug 2018
QT-Opt: Scalable Deep Reinforcement Learning for Vision-Based Robotic Manipulation Dmitry Kalashnikov A. Irpan P. Pastor Julian Ibarz Alexander Herzog ... Deirdre Quillen E. Holly Mrinal Kalakrishnan Vincent Vanhoucke Sergey Levine 113 1,460 0 27 Jun 2018
Learning to Adapt in Dynamic, Real-World Environments Through Meta-Reinforcement Learning Anusha Nagabandi I. Clavera Simin Liu R. Fearing Pieter Abbeel Sergey Levine Chelsea Finn 114 548 0 30 Mar 2018
Sim-to-Real Transfer of Robotic Control with Dynamics Randomization Xue Bin Peng Marcin Andrychowicz Wojciech Zaremba Pieter Abbeel 102 1,363 0 18 Oct 2017
Attention Is All You Need Ashish Vaswani Noam M. Shazeer Niki Parmar Jakob Uszkoreit Llion Jones Aidan Gomez Lukasz Kaiser Illia Polosukhin 3DV 677 131,414 0 12 Jun 2017
Domain Randomization for Transferring Deep Neural Networks from Simulation to the Real World Joshua Tobin Rachel Fong Alex Ray Jonas Schneider Wojciech Zaremba Pieter Abbeel 244 2,964 0 20 Mar 2017
HyperNetworks David R Ha Andrew M. Dai Quoc V. Le 135 1,628 0 27 Sep 2016
Actor-Mimic: Deep Multitask and Transfer Reinforcement Learning Emilio Parisotto Jimmy Lei Ba Ruslan Salakhutdinov OffRL 83 599 0 19 Nov 2015
Policy Distillation Andrei A. Rusu Sergio Gomez Colmenarejo Çağlar Gülçehre Guillaume Desjardins J. Kirkpatrick Razvan Pascanu Volodymyr Mnih Koray Kavukcuoglu R. Hadsell 81 692 0 19 Nov 2015
End-to-End Training of Deep Visuomotor Policies Sergey Levine Chelsea Finn Trevor Darrell Pieter Abbeel BDL 308 3,434 0 02 Apr 2015
Distilling the Knowledge in a Neural Network Geoffrey E. Hinton Oriol Vinyals J. Dean FedML 340 19,634 0 09 Mar 2015
Contextual Markov Decision Processes Assaf Hallak Dotan Di Castro Shie Mannor 89 247 0 08 Feb 2015