DeepMimic: Example-Guided Deep Reinforcement Learning of Physics-Based Character Skills

Xue Bin Peng, Pieter Abbeel, Sergey Levine +1

Learning Contact-Rich Manipulation Skills with Guided Policy Search

Sergey Levine, Nolan Wagener, Pieter Abbeel

Imitation from Observation: Learning to Imitate Behaviors from Raw Video via Context Translation

YuXuan Liu, Abhishek Gupta, Pieter Abbeel +1

Deep Reinforcement Learning in a Handful of Trials using Probabilistic Dynamics Models

Kurtland Chua, Roberto Calandra, Rowan McAllister +1

Deep Object-Centric Representations for Generalizable Robot Learning

Coline Devin, Pieter Abbeel, Trevor Darrell +1

Value Iteration Networks

Aviv Tamar, Yi Wu, Garrett Thomas +2

Efficient Off-Policy Meta-Reinforcement Learning via Probabilistic Context Variables

Kate Rakelly, Aurick Zhou, Deirdre Quillen +2

Learning with Latent Language

Jacob Andreas, Dan Klein, Sergey Levine

Visual Memory for Robust Path Following

Ashish Kumar, Saurabh Gupta, David Fouhey +2

QT-Opt: Scalable Deep Reinforcement Learning for Vision-Based Robotic Manipulation

Dmitry Kalashnikov, Alex Irpan, Peter Pastor +8

Meta-Reinforcement Learning of Structured Exploration Strategies

Abhishek Gupta, Russell Mendonca, YuXuan Liu +2

Interpolated Policy Gradient: Merging On-Policy and Off-Policy Gradient Estimation for Deep Reinforcement Learning

Shixiang Gu, Timothy Lillicrap, Zoubin Ghahramani +3

Combining Model-Based and Model-Free Updates for Trajectory-Centric Reinforcement Learning

Yevgen Chebotar, Karol Hausman, Marvin Zhang +3

Learning Complex Dexterous Manipulation with Deep Reinforcement Learning and Demonstrations

Aravind Rajeswaran, Vikash Kumar, Abhishek Gupta +4

Divide-and-Conquer Reinforcement Learning

Dibya Ghosh, Avi Singh, Aravind Rajeswaran +2

Model-Agnostic Meta-Learning for Fast Adaptation of Deep Networks

Chelsea Finn, Pieter Abbeel, Sergey Levine

SFV: Reinforcement Learning of Physical Skills from Videos

Xue Bin Peng, Angjoo Kanazawa, Jitendra Malik +2

Learning Actionable Representations with Goal-Conditioned Policies

Dibya Ghosh, Abhishek Gupta, Sergey Levine

Discriminator-Actor-Critic: Addressing Sample Inefficiency and Reward Bias in Adversarial Imitation Learning

Ilya Kostrikov, Kumar Krishna Agrawal, Debidatta Dwibedi +2

Time-Contrastive Networks: Self-Supervised Learning from Video

Pierre Sermanet, Corey Lynch, Yevgen Chebotar +4

Combining Self-Supervised Learning and Imitation for Vision-Based Rope Manipulation

Ashvin Nair, Dian Chen, Pulkit Agrawal +4

Model-based Reinforcement Learning with Parametrized Physical Models and Optimism-Driven Exploration

Christopher Xie, Sachin Patil, Teodor Moldovan +2

One-Shot Hierarchical Imitation Learning of Compound Visuomotor Tasks

Tianhe Yu, Pieter Abbeel, Sergey Levine +1

One-Shot Imitation from Observing Humans via Domain-Adaptive Meta-Learning

Tianhe Yu, Chelsea Finn, Annie Xie +4

Vision-Based Multi-Task Manipulation for Inexpensive Robots Using End-To-End Learning from Demonstration

Rouhollah Rahmatizadeh, Pooya Abolghasemi, Ladislau Bölöni +1

Low Level Control of a Quadrotor with Deep Model-Based Reinforcement Learning

Nathan O. Lambert, Daniel S. Drew, Joseph Yaconelli +3

PLATO: Policy Learning using Adaptive Trajectory Optimization

Gregory Kahn, Tianhao Zhang, Sergey Levine +1

SOLAR: Deep Structured Representations for Model-Based Reinforcement Learning

Marvin Zhang, Sharad Vikram, Laura Smith +3

Sim2Real View Invariant Visual Servoing by Recurrent Control

Fereshteh Sadeghi, Alexander Toshev, Eric Jang +1

Model-Based Value Estimation for Efficient Model-Free Reinforcement Learning

Vladimir Feinberg, Alvin Wan, Ion Stoica +3

Visual Foresight: Model-Based Deep Reinforcement Learning for Vision-Based Robotic Control

Frederik Ebert, Chelsea Finn, Sudeep Dasari +3

Unsupervised Perceptual Rewards for Imitation Learning

Pierre Sermanet, Kelvin Xu, Sergey Levine

Residual Reinforcement Learning for Robot Control

Tobias Johannink, Shikhar Bahl, Ashvin Nair +6

Artificial Intelligence for Prosthetics - challenge solutions

Łukasz Kidziński, Carmichael Ong, Sharada Prasanna Mohanty +47

Deep Visual Foresight for Planning Robot Motion

Chelsea Finn, Sergey Levine

Learning Deep Neural Network Policies with Continuous Memory States

Marvin Zhang, Zoe McCarthy, Chelsea Finn +2

Manipulation by Feel: Touch-Based Control with Deep Predictive Models

Stephen Tian, Frederik Ebert, Dinesh Jayaraman +4

Dexterous Manipulation with Deep Reinforcement Learning: Efficient, General, and Low-Cost

Henry Zhu, Abhishek Gupta, Aravind Rajeswaran +2

Learning Instance Segmentation by Interaction

Deepak Pathak, Yide Shentu, Dian Chen +4

Learning Deep Control Policies for Autonomous Aerial Vehicles with MPC-Guided Policy Search

Tianhao Zhang, Gregory Kahn, Sergey Levine +1

Robustness via Retrying: Closed-Loop Robotic Manipulation with Self-Supervised Learning

Frederik Ebert, Sudeep Dasari, Alex X. Lee +2

Learning to Run challenge solutions: Adapting reinforcement learning methods for neuromusculoskeletal environments

Łukasz Kidziński, Sharada Prasanna Mohanty, Carmichael Ong +26

Neural Network Dynamics for Model-Based Deep Reinforcement Learning with Model-Free Fine-Tuning

Anusha Nagabandi, Gregory Kahn, Ronald S. Fearing +1

EX2: Exploration with Exemplar Models for Deep Reinforcement Learning

Justin Fu, John D. Co-Reyes, Sergey Levine

Deep Spatial Autoencoders for Visuomotor Learning

Chelsea Finn, Xin Yu Tan, Yan Duan +3

Recurrent Network Models for Human Dynamics

Katerina Fragkiadaki, Sergey Levine, Panna Felsen +1

Learning to Poke by Poking: Experiential Learning of Intuitive Physics

Pulkit Agrawal, Ashvin Nair, Pieter Abbeel +2

Automatically Composing Representation Transformations as a Means for Generalization

Michael B. Chang, Abhishek Gupta, Sergey Levine +1

Improvisation through Physical Understanding: Using Novel Objects as Tools with Visual Foresight

Annie Xie, Frederik Ebert, Sergey Levine +1

Adapting Deep Visuomotor Representations with Weak Pairwise Constraints

Eric Tzeng, Coline Devin, Judy Hoffman +5

Unsupervised Learning via Meta-Learning

Kyle Hsu, Sergey Levine, Chelsea Finn

Grasp2Vec: Learning Object Representations from Self-Supervised Grasping

Eric Jang, Coline Devin, Vincent Vanhoucke +1

GPLAC: Generalizing Vision-Based Robotic Skills using Weakly Labeled Images

Avi Singh, Larry Yang, Sergey Levine

Deep Reinforcement Learning for Tensegrity Robot Locomotion

Marvin Zhang, Xinyang Geng, Jonathan Bruce +5

Path Integral Guided Policy Search

Yevgen Chebotar, Mrinal Kalakrishnan, Ali Yahya +3

Reinforcement Learning with Competitive Ensembles of Information-Constrained Primitives

Anirudh Goyal, Shagun Sodhani, Jonathan Binas +3

Near-Optimal Representation Learning for Hierarchical Reinforcement Learning

Ofir Nachum, Shixiang Gu, Honglak Lee +1

Learning Hand-Eye Coordination for Robotic Grasping with Deep Learning and Large-Scale Data Collection

Sergey Levine, Peter Pastor, Alex Krizhevsky +1

Time-Agnostic Prediction: Predicting Predictable Video Frames

Dinesh Jayaraman, Frederik Ebert, Alexei A. Efros +1

Learning Image-Conditioned Dynamics Models for Control of Under-actuated Legged Millirobots

Anusha Nagabandi, Guangzhao Yang, Thomas Asmar +4

MuProp: Unbiased Backpropagation for Stochastic Neural Networks

Shixiang Gu, Sergey Levine, Ilya Sutskever +1

Deep Reinforcement Learning for Industrial Insertion Tasks with Visual Inputs and Natural Rewards

Gerrit Schoettler, Ashvin Nair, Jianlan Luo +4

The paper presents a deep reinforcement learning approach that uses visual inputs and natural reward signals, such as sparse rewards and goal images, to learn controllers for indus…

Learning to Run challenge: Synthesizing physiologically accurate motion using deep reinforcement learning

Łukasz Kidziński, Sharada P. Mohanty, Carmichael Ong +5

Data-efficient Learning of Morphology and Controller for a Microrobot

Thomas Liao, Grant Wang, Brian Yang +4

The Mirage of Action-Dependent Baselines in Reinforcement Learning

George Tucker, Surya Bhupatiraju, Shixiang Gu +3

Uncertainty-Aware Reinforcement Learning for Collision Avoidance

Gregory Kahn, Adam Villaflor, Vitchyr Pong +2

Incentivizing Exploration In Reinforcement Learning With Deep Predictive Models

Bradly C. Stadie, Sergey Levine, Pieter Abbeel

Wasserstein Dependency Measure for Representation Learning

Sherjil Ozair, Corey Lynch, Yoshua Bengio +3

Reasoning About Physical Interactions with Object-Oriented Prediction and Planning

Michael Janner, Sergey Levine, William T. Freeman +3

More Than a Feeling: Learning to Grasp and Regrasp using Vision and Touch

Roberto Calandra, Andrew Owens, Dinesh Jayaraman +5

Self-supervised Deep Reinforcement Learning with Generalized Computation Graphs for Robot Navigation

Gregory Kahn, Adam Villaflor, Bosen Ding +2

Guided Cost Learning: Deep Inverse Optimal Control via Policy Optimization

Chelsea Finn, Sergey Levine, Pieter Abbeel

Deep Online Learning via Meta-Learning: Continual Adaptation for Model-Based RL

Anusha Nagabandi, Chelsea Finn, Sergey Levine

Stochastic Adversarial Video Prediction

Alex X. Lee, Richard Zhang, Frederik Ebert +3

One-Shot Visual Imitation Learning via Meta-Learning

Chelsea Finn, Tianhe Yu, Tianhao Zhang +2

Learning Invariant Feature Spaces to Transfer Skills with Reinforcement Learning

Abhishek Gupta, Coline Devin, YuXuan Liu +2

Generalizing Skills with Semi-Supervised Reinforcement Learning

Chelsea Finn, Tianhe Yu, Justin Fu +2

Sim-to-Real via Sim-to-Sim: Data-efficient Robotic Grasping via Randomized-to-Canonical Adaptation Networks

Stephen James, Paul Wohlhart, Mrinal Kalakrishnan +6

Reset-Free Guided Policy Search: Efficient Deep Reinforcement Learning with Stochastic Initial States

William Montgomery, Anurag Ajay, Chelsea Finn +2

Generalization through Simulation: Integrating Simulated and Real Data into Deep Reinforcement Learning for Vision-Based Autonomous Flight

Katie Kang, Suneel Belkhale, Gregory Kahn +2

EMI: Exploration with Mutual Information

Hyoungseok Kim, Jaekyeom Kim, Yeonwoo Jeong +2

Composable Deep Reinforcement Learning for Robotic Manipulation

Tuomas Haarnoja, Vitchyr Pong, Aurick Zhou +3

Universal Planning Networks

Aravind Srinivas, Allan Jabri, Pieter Abbeel +2

Visual Reinforcement Learning with Imagined Goals

Ashvin Nair, Vitchyr Pong, Murtaza Dalal +3

Shared Autonomy via Deep Reinforcement Learning

Siddharth Reddy, Anca D. Dragan, Sergey Levine

Leave no Trace: Learning to Reset for Safe and Autonomous Reinforcement Learning

Benjamin Eysenbach, Shixiang Gu, Julian Ibarz +1

Online Meta-Learning

Chelsea Finn, Aravind Rajeswaran, Sham Kakade +1

Latent Space Policies for Hierarchical Reinforcement Learning

Tuomas Haarnoja, Kristian Hartikainen, Pieter Abbeel +1

Variational Inverse Control with Events: A General Framework for Data-Driven Reward Definition

Justin Fu, Avi Singh, Dibya Ghosh +2

Unsupervised Learning for Physical Interaction through Video Prediction

Chelsea Finn, Ian Goodfellow, Sergey Levine

One-Shot Learning of Manipulation Skills with Online Dynamics Adaptation and Neural Network Priors

Justin Fu, Sergey Levine, Pieter Abbeel

Guided Policy Search as Approximate Mirror Descent

William Montgomery, Sergey Levine

Learning Modular Neural Network Policies for Multi-Task and Multi-Robot Transfer

Coline Devin, Abhishek Gupta, Trevor Darrell +2

Learning Flexible and Reusable Locomotion Primitives for a Microrobot

Brian Yang, Grant Wang, Roberto Calandra +3

Backprop KF: Learning Discriminative Deterministic State Estimators

Tuomas Haarnoja, Anurag Ajay, Sergey Levine +1

Stochastic Variational Video Prediction

Mohammad Babaeizadeh, Chelsea Finn, Dumitru Erhan +2

Reinforcement Learning with Deep Energy-Based Policies

Tuomas Haarnoja, Haoran Tang, Pieter Abbeel +1

Learning to Adapt in Dynamic, Real-World Environments Through Meta-Reinforcement Learning

Anusha Nagabandi, Ignasi Clavera, Simin Liu +4

Meta-Learning and Universality: Deep Representations and Gradient Descent can Approximate any Learning Algorithm

Chelsea Finn, Sergey Levine

Few-Shot Segmentation Propagation with Guided Networks

Kate Rakelly, Evan Shelhamer, Trevor Darrell +2