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Found 18 papers, 9 papers with code
Co-GAIL: Learning Diverse Strategies for Human-Robot Collaboration
Our method co-optimizes a human policy and a robot policy in an interactive learning process: the human policy learns to generate diverse and plausible collaborative behaviors from demonstrations while the robot policy learns to assist by estimating the unobserved latent strategy of its human collaborator.
What Matters in Learning from Offline Human Demonstrations for Robot Manipulation
Based on the study, we derive a series of lessons including the sensitivity to different algorithmic design choices, the dependence on the quality of the demonstrations, and the variability based on the stopping criteria due to the different objectives in training and evaluation.
Generalization Through Hand-Eye Coordination: An Action Space for Learning Spatially-Invariant Visuomotor Control
Key to such capability is hand-eye coordination, a cognitive ability that enables humans to adaptively direct their movements at task-relevant objects and be invariant to the objects' absolute spatial location.
Human-in-the-Loop Imitation Learning using Remote Teleoperation
We develop a simple and effective algorithm to train the policy iteratively on new data collected by the system that encourages the policy to learn how to traverse bottlenecks through the interventions.
Learning to Generalize Across Long-Horizon Tasks from Human Demonstrations
In the second stage of GTI, we collect a small set of rollouts from the unconditioned stochastic policy of the first stage, and train a goal-directed agent to generalize to novel start and goal configurations.
Positive-Unlabeled Reward Learning
Learning reward functions from data is a promising path towards achieving scalable Reinforcement Learning (RL) for robotics.
6-PACK: Category-level 6D Pose Tracker with Anchor-Based Keypoints
We present 6-PACK, a deep learning approach to category-level 6D object pose tracking on RGB-D data.
Ranked #1 on
6D Pose Estimation using RGBD
on REAL275
(Rerr metric)
Regression Planning Networks
Recent learning-to-plan methods have shown promising results on planning directly from observation space.
Situational Fusion of Visual Representation for Visual Navigation
A complex visual navigation task puts an agent in different situations which call for a diverse range of visual perception abilities.
Continuous Relaxation of Symbolic Planner for One-Shot Imitation Learning
The key technical challenge is that the symbol grounding is prone to error with limited training data and leads to subsequent symbolic planning failures.
Procedure Planning in Instructional Videos
In this paper, we study the problem of procedure planning in instructional videos, which can be seen as a step towards enabling autonomous agents to plan for complex tasks in everyday settings such as cooking.
DenseFusion: 6D Object Pose Estimation by Iterative Dense Fusion
A key technical challenge in performing 6D object pose estimation from RGB-D image is to fully leverage the two complementary data sources.
Ranked #3 on
6D Pose Estimation using RGBD
on LineMOD
Neural Task Graphs: Generalizing to Unseen Tasks from a Single Video Demonstration
We hypothesize that to successfully generalize to unseen complex tasks from a single video demonstration, it is necessary to explicitly incorporate the compositional structure of the tasks into the model.
PointFusion: Deep Sensor Fusion for 3D Bounding Box Estimation
We present PointFusion, a generic 3D object detection method that leverages both image and 3D point cloud information.
Neural Task Programming: Learning to Generalize Across Hierarchical Tasks
In this work, we propose a novel robot learning framework called Neural Task Programming (NTP), which bridges the idea of few-shot learning from demonstration and neural program induction.
Scene Graph Generation by Iterative Message Passing
In this work, we explicitly model the objects and their relationships using scene graphs, a visually-grounded graphical structure of an image.
Model-Driven Feed-Forward Prediction for Manipulation of Deformable Objects
A fully featured 3D model of the garment is constructed in real-time and volumetric features are then used to obtain the most similar model in the database to predict the object category and pose.
3D-R2N2: A Unified Approach for Single and Multi-view 3D Object Reconstruction
Inspired by the recent success of methods that employ shape priors to achieve robust 3D reconstructions, we propose a novel recurrent neural network architecture that we call the 3D Recurrent Reconstruction Neural Network (3D-R2N2).
Ranked #4 on
3D Reconstruction
on Data3D−R2N2
