Preprints
CCIL: Continuity-based Data Augmentation for Corrective Imitation Learning
DexTransfer: Real World Multi-fingered Dexterous Grasping with Minimal Human Demonstrations
Learning latent state representation for speeding up exploration
Soft actor-critic algorithms and applications
2023
RoboHive: A Unified Framework for Robot Learning
Neural Information Processing Systems (NeurIPS), Datasets and Benchmarks Track, 2023
Autonomous Robotic Reinforcement Learning with Asynchronous Human Feedback
Conference on Robot Learning (CoRL), 2023
REBOOT: Reuse Data for Bootstrapping Efficient Real-World Dexterous Manipulation
Conference on Robot Learning (CoRL), 2023
Fighting Uncertainty with Gradients: Offline Reinforcement Learning via Diffusion Score Matching
Conference on Robot Learning (CoRL), 2023
Breadcrumbs to the Goal: Goal-Conditioned Exploration from Human-in-the-Loop Feedback
Neural Information Processing Systems (NeurIPS), 2023
Beyond Uniform Sampling: Offline Reinforcement Learning with Imbalanced Datasets
Neural Information Processing Systems (NeurIPS), 2023
Self-Supervised Reinforcement Learning that Transfers using Random Features
Neural Information Processing Systems (NeurIPS), 2023
RePo: Resilient Model-Based Reinforcement Learning by Regularizing Posterior Predictability
Neural Information Processing Systems (NeurIPS), 2023 (Spotlight)
Tackling combinatorial distribution shift: A matrix completion perspective
Conference on Learning Theory (COLT), 2023
GenAug: Retargeting behaviors to unseen situations via Generative Augmentation
Robotics: Science and Systems (RSS), 2023, (Best Paper Finalist)
Cherry-Picking with Reinforcement Learning: Robust Dynamic Grasping in Unstable Conditions
Robotics: Science and Systems (RSS), 2023
Tackling Combinatorial Distribution Shift: A Matrix Completion Perspective
International Conference on Machine Learning (ICML), 2023
Guiding Pretraining in Reinforcement Learning with Large Language Models
International Conference on Machine Learning (ICML), 2023
Learning to Extrapolate: A Transductive Approach
International Conference on Learning Representations (ICLR), 2023
TactoFind: A Tactile Only System for Object Retrieval
International Conference on Robotics and Automation (ICRA), 2023
Demonstration-Bootstrapped Autonomous Practicing via Multi-Task Reinforcement Learning
International Conference on Robotics and Automation (ICRA), 2023
Dexterous Manipulation from Images: Autonomous Real-World RL via Substep Guidance
International Conference on Robotics and Automation (ICRA), 2023
2022
Learning Robust Real-World Dexterous Grasping Policies via Implicit Shape Augmentation
Conference on Robot Learning (CoRL), 2022
Unpacking Reward Shaping: Understanding the Benefits of Reward Engineering on Sample Complexity
Neural Information Processing Systems (NeurIPS), 2022
Distributionally Adaptive Meta Reinforcement Learning
Neural Information Processing Systems (NeurIPS), 2022
Autonomous Reinforcement Learning: Formalism and Benchmarking
International Conference on Learning Representations (ICLR), 2022
2021
Teachable Reinforcement Learning via Advice Distillation
Neural Information Processing Systems (NeurIPS), 2021
Autonomous reinforcement learning via subgoal curricula
Neural Information Processing Systems (NeurIPS), 2021
Adaptive Risk Minimization: A Meta-Learning Approach for Tackling Group Shift
Neural Information Processing Systems (NeurIPS), 2021
Which Mutual-Information Representation Learning Objectives are Sufficient for Control?
Neural Information Processing Systems (NeurIPS), 2021
MURAL: Meta-learning uncertainty-aware rewards for outcome-driven reinforcement learning
International Conference on Machine Learning (ICML), 2021
Reset-free reinforcement learning via multi-task learning: Learning dexterous manipulation behaviors
without human intervention
International Conference on Robotics and Automation (ICRA), 2021
Learning to Reach Goals via Iterated Supervised Learning
International Conference on Learning Representations (ICLR), 2021
2020
The ingredients of real-world robotic reinforcement learning
International Conference on Learning Representations (ICLR), 2020
DisCor: Corrective Feedback in Reinforcement Learning via Distribution Correction
Neural Information Processing Systems (NeurIPS), 2020
Gradient Surgery for Multi-Task Learning
Neural Information Processing Systems (NeurIPS), 2020
2019
Robel: Robotics benchmarks for learning with low-cost robots
Conference on Robot Learning (CoRL), 2019
Relay Policy Learning: Solving Long-Horizon Tasks via Imitation and Reinforcement Learning
Conference on Robot Learning (CoRL), 2019
Unsupervised curricula for visual meta-reinforcement learning
Neural Information Processing Systems (NeurIPS), 2019
Dexterous Manipulation with Deep Reinforcement Learning: Efficient, General, and Low-Cost
International Conference on Robotics and Automation (ICRA), 2019
Guiding Policies with Language via Meta-Learning
International Conference on Learning Representations (ICLR), 2019
Learning actionable representations with goal-conditioned policies
International Conference on Learning Representations (ICLR), 2019
Automatically composing representation transformations as a means for generalization
International Conference on Learning Representations (ICLR), 2019
Diversity is all you need: Learning skills without a reward function
International Conference on Learning Representations (ICLR), 2019
2018
Self-Consistent Trajectory Autoencoder: Hierarchical Reinforcement Learning with Trajectory
Embeddings
International Conference on Machine Learning (ICML), 2018
Imitation from observation: Learning to imitate behaviors from raw video via context translation
International Conference on Robotics and Automation (ICRA), 2018
Meta-Reinforcement Learning of Structured Exploration Strategies
Neural Information Processing Systems (NeurIPS), 2018
Learning complex dexterous manipulation with deep reinforcement learning and demonstrations
Robotics Science and Systems (RSS), 2018
2017
Learning Modular Neural Network Policies for Multi-Task and Multi-Robot Transfer
International Conference on Robotics and Automation (ICRA), 2017
Learning Invariant Feature Spaces to Transfer Skills with Reinforcement Learning
International Conference on Learning Representations (ICLR), 2017
2016
Learning Dexterous Manipulation for a Soft Robotic Hand from Human Demonstrations
International Conference on Intelligent Robots and Systems (IROS), 2016
Guided search for task and motion plans using learned heuristics
International Conference on Robotics and Automation (ICRA), 2016
2015
Learning from multiple demonstrations using trajectory-aware non-rigid registration with
applications to deformable object manipulation
International Conference on Intelligent Robots and Systems (IROS), 2015
Learning force-based manipulation of deformable objects from multiple demonstrations
International Conference on Robotics and Automation (ICRA), 2015