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09/06/2023
Pre- and post-contact policy decomposition for non-prehensile manipulation with zero-shot sim-to-real transfer
We present a system for non-prehensile manipulation that require a signi...
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08/31/2023
Learning Whole-body Manipulation for Quadrupedal Robot
We propose a learning-based system for enabling quadrupedal robots to ma...
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04/19/2023
Local object crop collision network for efficient simulation of non-convex objects in GPU-based simulators
Our goal is to develop an efficient contact detection algorithm for larg...
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03/09/2022
Representation, learning, and planning algorithms for geometric task and motion planning
We present a framework for learning to guide geometric task and motion p...
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11/16/2020
A Long Horizon Planning Framework for Manipulating Rigid Pointcloud Objects
We present a framework for solving long-horizon planning problems involv...
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10/02/2020
Integrated Task and Motion Planning
The problem of planning for a robot that operates in environments contai...
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07/26/2020
CAMPs: Learning Context-Specific Abstractions for Efficient Planning in Factored MDPs
Meta-planning, or learning to guide planning from experience, is a promi...
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11/23/2018
Regret bounds for meta Bayesian optimization with an unknown Gaussian process prior
Bayesian optimization usually assumes that a Bayesian prior is given. Ho...
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07/26/2018
Learning to guide task and motion planning using score-space representation
In this paper, we propose a learning algorithm that speeds up the search...
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11/04/2017
