Search Results for author: Zhigen Zhao

Found 3 papers, 1 papers with code

Adversarially Regularized Policy Learning Guided by Trajectory Optimization

no code implementations16 Sep 2021 Zhigen Zhao, Simiao Zuo, Tuo Zhao, Ye Zhao

Recent advancement in combining trajectory optimization with function approximation (especially neural networks) shows promise in learning complex control policies for diverse tasks in robot systems.

Robot Manipulation

BEAUTY Powered BEAST

no code implementations1 Mar 2021 Kai Zhang, Zhigen Zhao, Wen Zhou

To approach this oracle power, we devise the BEAST through a regularized resampling approximation of the oracle test.

SyDeBO: Symbolic-Decision-Embedded Bilevel Optimization for Long-Horizon Manipulation in Dynamic Environments

1 code implementation21 Oct 2020 Zhigen Zhao, Ziyi Zhou, Michael Park, Ye Zhao

This study proposes a Task and Motion Planning (TAMP) method with symbolic decisions embedded in a bilevel optimization.

Robotics

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