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06/24/2023
Fighting Uncertainty with Gradients: Offline Reinforcement Learning via Diffusion Score Matching
Offline optimization paradigms such as offline Reinforcement Learning (R...
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06/22/2022
Global Planning for Contact-Rich Manipulation via Local Smoothing of Quasi-dynamic Contact Models
The empirical success of Reinforcement Learning (RL) in the setting of c...
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02/02/2022
Do Differentiable Simulators Give Better Policy Gradients?
Differentiable simulators promise faster computation time for reinforcem...
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11/02/2021
SEED: Series Elastic End Effectors in 6D for Visuotactile Tool Use
We propose the framework of Series Elastic End Effectors in 6D (SEED), w...
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09/11/2021
Bundled Gradients through Contact via Randomized Smoothing
The empirical success of derivative-free methods in reinforcement learni...
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02/21/2020
The Surprising Effectiveness of Linear Models for Visual Foresight in Object Pile Manipulation
In this paper, we tackle the problem of pushing piles of small objects i...
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09/23/2019
