Search Results for author: Jianlan Luo

Found 12 papers, 2 papers with code

Yell At Your Robot: Improving On-the-Fly from Language Corrections

no code implementations19 Mar 2024 Lucy Xiaoyang Shi, Zheyuan Hu, Tony Z. Zhao, Archit Sharma, Karl Pertsch, Jianlan Luo, Sergey Levine, Chelsea Finn

In this paper, we make the following observation: high-level policies that index into sufficiently rich and expressive low-level language-conditioned skills can be readily supervised with human feedback in the form of language corrections.

SERL: A Software Suite for Sample-Efficient Robotic Reinforcement Learning

no code implementations29 Jan 2024 Jianlan Luo, Zheyuan Hu, Charles Xu, You Liang Tan, Jacob Berg, Archit Sharma, Stefan Schaal, Chelsea Finn, Abhishek Gupta, Sergey Levine

We posit that a significant challenge to widespread adoption of robotic RL, as well as further development of robotic RL methods, is the comparative inaccessibility of such methods.

reinforcement-learning Reinforcement Learning (RL)

RLIF: Interactive Imitation Learning as Reinforcement Learning

no code implementations21 Nov 2023 Jianlan Luo, Perry Dong, Yuexiang Zhai, Yi Ma, Sergey Levine

We also provide a unified framework to analyze our RL method and DAgger; for which we present the asymptotic analysis of the suboptimal gap for both methods as well as the non-asymptotic sample complexity bound of our method.

Continuous Control Imitation Learning +1

Action-Quantized Offline Reinforcement Learning for Robotic Skill Learning

no code implementations18 Oct 2023 Jianlan Luo, Perry Dong, Jeffrey Wu, Aviral Kumar, Xinyang Geng, Sergey Levine

We use a VQ-VAE to learn state-conditioned action quantization, avoiding the exponential blowup that comes with na\"ive discretization of the action space.

Offline RL Quantization +2

REBOOT: Reuse Data for Bootstrapping Efficient Real-World Dexterous Manipulation

no code implementations6 Sep 2023 Zheyuan Hu, Aaron Rovinsky, Jianlan Luo, Vikash Kumar, Abhishek Gupta, Sergey Levine

We demonstrate the benefits of reusing past data as replay buffer initialization for new tasks, for instance, the fast acquisition of intricate manipulation skills in the real world on a four-fingered robotic hand.

Imitation Learning Reinforcement Learning (RL)

Multi-Stage Cable Routing through Hierarchical Imitation Learning

no code implementations18 Jul 2023 Jianlan Luo, Charles Xu, Xinyang Geng, Gilbert Feng, Kuan Fang, Liam Tan, Stefan Schaal, Sergey Levine

In such settings, learning individual primitives for each stage that succeed with a high enough rate to perform a complete temporally extended task is impractical: if each stage must be completed successfully and has a non-negligible probability of failure, the likelihood of successful completion of the entire task becomes negligible.

Imitation Learning

Robust Multi-Modal Policies for Industrial Assembly via Reinforcement Learning and Demonstrations: A Large-Scale Study

no code implementations21 Mar 2021 Jianlan Luo, Oleg Sushkov, Rugile Pevceviciute, Wenzhao Lian, Chang Su, Mel Vecerik, Ning Ye, Stefan Schaal, Jon Scholz

In this paper we define criteria for industry-oriented DRL, and perform a thorough comparison according to these criteria of one family of learning approaches, DRL from demonstration, against a professional industrial integrator on the recently established NIST assembly benchmark.

Action Image Representation: Learning Scalable Deep Grasping Policies with Zero Real World Data

no code implementations13 May 2020 Mohi Khansari, Daniel Kappler, Jianlan Luo, Jeff Bingham, Mrinal Kalakrishnan

Similar to computer vision problems, such as object detection, Action Image builds on the idea that object features are invariant to translation in image space.

Object object-detection +2

UniGrasp: Learning a Unified Model to Grasp with Multifingered Robotic Hands

1 code implementation24 Oct 2019 Lin Shao, Fabio Ferreira, Mikael Jorda, Varun Nambiar, Jianlan Luo, Eugen Solowjow, Juan Aparicio Ojea, Oussama Khatib, Jeannette Bohg

The majority of previous work has focused on developing grasp methods that generalize over novel object geometry but are specific to a certain robot hand.

Object valid

Domain Randomization for Active Pose Estimation

no code implementations10 Mar 2019 Xinyi Ren, Jianlan Luo, Eugen Solowjow, Juan Aparicio Ojea, Abhishek Gupta, Aviv Tamar, Pieter Abbeel

In this work, we investigate how to improve the accuracy of domain randomization based pose estimation.

Pose Estimation

Residual Reinforcement Learning for Robot Control

no code implementations7 Dec 2018 Tobias Johannink, Shikhar Bahl, Ashvin Nair, Jianlan Luo, Avinash Kumar, Matthias Loskyll, Juan Aparicio Ojea, Eugen Solowjow, Sergey Levine

In this paper, we study how we can solve difficult control problems in the real world by decomposing them into a part that is solved efficiently by conventional feedback control methods, and the residual which is solved with RL.

Friction reinforcement-learning +1

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