no code implementations • 3 Nov 2023 • Weikang Wan, Yifeng Zhu, Rutav Shah, Yuke Zhu
We introduce LOTUS, a continual imitation learning algorithm that empowers a physical robot to continuously and efficiently learn to solve new manipulation tasks throughout its lifespan.
no code implementations • 22 Oct 2023 • Yifeng Zhu, Zhenyu Jiang, Peter Stone, Yuke Zhu
We introduce GROOT, an imitation learning method for learning robust policies with object-centric and 3D priors.
1 code implementation • 19 Sep 2022 • Mingyo Seo, Ryan Gupta, Yifeng Zhu, Alexy Skoutnev, Luis Sentis, Yuke Zhu
We present a hierarchical learning framework, named PRELUDE, which decomposes the problem of perceptive locomotion into high-level decision-making to predict navigation commands and low-level gait generation to realize the target commands.
no code implementations • 28 Sep 2021 • Yifeng Zhu, Peter Stone, Yuke Zhu
From the task structures of multi-task demonstrations, we identify skills based on the recurring patterns and train goal-conditioned sensorimotor policies with hierarchical imitation learning.
1 code implementation • 4 Apr 2021 • Zhenyu Jiang, Yifeng Zhu, Maxwell Svetlik, Kuan Fang, Yuke Zhu
The experimental results in simulation and on the real robot have demonstrated that the use of implicit neural representations and joint learning of grasp affordance and 3D reconstruction have led to state-of-the-art grasping results.
no code implementations • 16 Nov 2020 • Guanya Shi, Yifeng Zhu, Jonathan Tremblay, Stan Birchfield, Fabio Ramos, Animashree Anandkumar, Yuke Zhu
Deep learning-based object pose estimators are often unreliable and overconfident especially when the input image is outside the training domain, for instance, with sim2real transfer.
no code implementations • NeurIPS 2021 • Sihang Guo, Ruohan Zhang, Bo Liu, Yifeng Zhu, Mary Hayhoe, Dana Ballard, Peter Stone
1) How similar are the visual representations learned by RL agents and humans when performing the same task?
6 code implementations • 25 Sep 2020 • Yuke Zhu, Josiah Wong, Ajay Mandlekar, Roberto Martín-Martín, Abhishek Joshi, Soroush Nasiriany, Yifeng Zhu
robosuite is a simulation framework for robot learning powered by the MuJoCo physics engine.