Search Results for author: Manuel Wüthrich

Found 13 papers, 6 papers with code

Dexterous Robotic Manipulation using Deep Reinforcement Learning and Knowledge Transfer for Complex Sparse Reward-based Tasks

no code implementations19 May 2022 Qiang Wang, Francisco Roldan Sanchez, Robert McCarthy, David Cordova Bulens, Kevin McGuinness, Noel O'Connor, Manuel Wüthrich, Felix Widmaier, Stefan Bauer, Stephen J. Redmond

Here we extend this method, by modifying the task of Phase 1 of the RRC to require the robot to maintain the cube in a particular orientation, while the cube is moved along the required positional trajectory.

Transfer Learning

Transferring Dexterous Manipulation from GPU Simulation to a Remote Real-World TriFinger

1 code implementation22 Aug 2021 Arthur Allshire, Mayank Mittal, Varun Lodaya, Viktor Makoviychuk, Denys Makoviichuk, Felix Widmaier, Manuel Wüthrich, Stefan Bauer, Ankur Handa, Animesh Garg

We present a system for learning a challenging dexterous manipulation task involving moving a cube to an arbitrary 6-DoF pose with only 3-fingers trained with NVIDIA's IsaacGym simulator.

reinforcement-learning

The Role of Pretrained Representations for the OOD Generalization of Reinforcement Learning Agents

no code implementations ICLR 2022 Andrea Dittadi, Frederik Träuble, Manuel Wüthrich, Felix Widmaier, Peter Gehler, Ole Winther, Francesco Locatello, Olivier Bachem, Bernhard Schölkopf, Stefan Bauer

By training 240 representations and over 10, 000 reinforcement learning (RL) policies on a simulated robotic setup, we evaluate to what extent different properties of pretrained VAE-based representations affect the OOD generalization of downstream agents.

reinforcement-learning Representation Learning

Regret Bounds for Gaussian-Process Optimization in Large Domains

1 code implementation NeurIPS 2021 Manuel Wüthrich, Bernhard Schölkopf, Andreas Krause

These regret bounds illuminate the relationship between the number of evaluations, the domain size (i. e. cardinality of finite domains / Lipschitz constant of the covariance function in continuous domains), and the optimality of the retrieved function value.

On the Transfer of Disentangled Representations in Realistic Settings

no code implementations ICLR 2021 Andrea Dittadi, Frederik Träuble, Francesco Locatello, Manuel Wüthrich, Vaibhav Agrawal, Ole Winther, Stefan Bauer, Bernhard Schölkopf

Learning meaningful representations that disentangle the underlying structure of the data generating process is considered to be of key importance in machine learning.

Disentanglement

Function Contrastive Learning of Transferable Meta-Representations

no code implementations14 Oct 2020 Muhammad Waleed Gondal, Shruti Joshi, Nasim Rahaman, Stefan Bauer, Manuel Wüthrich, Bernhard Schölkopf

This \emph{meta-representation}, which is computed from a few observed examples of the underlying function, is learned jointly with the predictive model.

Contrastive Learning Few-Shot Learning

CausalWorld: A Robotic Manipulation Benchmark for Causal Structure and Transfer Learning

no code implementations ICLR 2021 Ossama Ahmed, Frederik Träuble, Anirudh Goyal, Alexander Neitz, Yoshua Bengio, Bernhard Schölkopf, Manuel Wüthrich, Stefan Bauer

To facilitate research addressing this problem, we propose CausalWorld, a benchmark for causal structure and transfer learning in a robotic manipulation environment.

Transfer Learning

An Open Torque-Controlled Modular Robot Architecture for Legged Locomotion Research

1 code implementation30 Sep 2019 Felix Grimminger, Avadesh Meduri, Majid Khadiv, Julian Viereck, Manuel Wüthrich, Maximilien Naveau, Vincent Berenz, Steve Heim, Felix Widmaier, Thomas Flayols, Jonathan Fiene, Alexander Badri-Spröwitz, Ludovic Righetti

Finally, to demonstrate the capabilities of the quadruped, we present a novel controller which combines feedforward contact forces computed from a kino-dynamic optimizer with impedance control of the center of mass and base orientation.

Robotics

Depth-Based Object Tracking Using a Robust Gaussian Filter

1 code implementation19 Feb 2016 Jan Issac, Manuel Wüthrich, Cristina Garcia Cifuentes, Jeannette Bohg, Sebastian Trimpe, Stefan Schaal

To address this issue, we show how a recently published robustification method for Gaussian filters can be applied to the problem at hand.

Object Tracking Outlier Detection

Robust Gaussian Filtering using a Pseudo Measurement

no code implementations14 Sep 2015 Manuel Wüthrich, Cristina Garcia Cifuentes, Sebastian Trimpe, Franziska Meier, Jeannette Bohg, Jan Issac, Stefan Schaal

The contribution of this paper is to show that any Gaussian filter can be made compatible with fat-tailed sensor models by applying one simple change: Instead of filtering with the physical measurement, we propose to filter with a pseudo measurement obtained by applying a feature function to the physical measurement.

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