Publications
2026
Q-Learning With World Models
Pre-training Visual Dexterity in Simulation
Freeform Preference Learning for Robotic Manipulation
Conference on Robot Learning (CoRL), 2026
SPIRAL: Learning to Search and Aggregate
Improving Robotic Generalist Policies via Flow Reversal Steering
Conference on Robot Learning (CoRL), 2026
CHORUS: Decentralized Multi-Embodiment Collaboration with One VLA Policy
Conference on Robot Learning (CoRL), 2026
DIRECT: When and Where Should You Allocate Test-Time Compute in Embodied Planners?
Conference on Robot Learning (CoRL), 2026
EXPO-FT: Sample-Efficient Reinforcement Learning Finetuning for Vision-Language-Action Models
Conference on Robot Learning (CoRL), 2026
Long-Horizon Q-Learning: Accurate Value Learning via n-Step Inequalities
Open-H-Embodiment: A Large-Scale Dataset for Enabling Foundation Models in Medical Robotics
Poly-EPO: Training Exploratory Reasoning Models
GIANTS: Generative Insight Anticipation from Scientific Literature
World Action Verifier: Self-Improving World Models via Forward-Inverse Asymmetry
Meta-Harness: End-to-End Optimization of Model Harnesses
Conference on Language Modeling (COLM), 2026
Data Analogies Enable Efficient Cross-Embodiment Transfer
MEM: Multi-Scale Embodied Memory for Vision Language Action Models
Conference on Robot Learning (CoRL), 2026
RoboMME: Benchmarking and Understanding Memory for Robotic Generalist Policies
International Conference on Machine Learning (ICML), 2026
Scaling Verification Can Be More Effective than Scaling Policy Learning for Vision-Language-Action Alignment
European Conference on Computer Vision (ECCV), 2026
VLAW: Iterative Co-Improvement of Vision-Language-Action Policy and World Model
International Conference on Machine Learning (ICML), 2026
SteerVLA: Steering Vision-Language-Action Models in Long-Tail Driving Scenarios
TQL: Scaling Q-Functions with Transformers by Preventing Attention Collapse
International Conference on Machine Learning (ICML), 2026
RoboReward: General-Purpose Vision-Language Reward Models for Robotics
Ego-Pi: VLA Fine-Tuning for Ego-Centric Human and Robot Data
Conference on Computer Vision and Pattern Recognition (CVPR), 2026
Posterior Behavioral Cloning: Pretraining BC Policies for Efficient RL Finetuning
International Conference on Machine Learning (ICML), 2026
MemER: Scaling Up Memory for Robot Control via Experience Retrieval
International Conference on Learning Representations (ICLR), 2026
Ctrl-World: A Controllable Generative World Model for Robot Manipulation
International Conference on Learning Representations (ICLR), 2026
RLAD: Training LLMs to Discover Abstractions for Solving Reasoning Problems
International Conference on Learning Representations (ICLR), 2026
Polychromic Objectives for Reinforcement Learning
International Conference on Learning Representations (ICLR), 2026
EXPO: Stable Reinforcement Learning with Expressive Policies
International Conference on Learning Representations (ICLR), 2026
What Matters for Batch Online Reinforcement Learning in Robotics?
International Conference on Learning Representations (ICLR), 2026
PolaRiS: Scalable Real-to-Sim Evaluations for Generalist Robot Policies
2025
Adapt On-the-Go: Behavior Modulation for Single-Life Robot Deployment
Conference on Lifelong Learning Agents (CoLLAs), 2025
Grounding by Trying: LLMs with Reinforcement Learning-Enhanced Retrieval
International Conference on Learning Representations (ICLR), 2025
Invariance Co-training for Robot Visual Generalization
Feedback Descent: Open-Ended Text Optimization via Pairwise Comparison
International Conference on Learning Representations (ICLR), 2025
Helpful DoggyBot: Open-World Object Fetching using Legged Robots and Vision-Language Models
International Conference on Intelligent Robots and Systems (IROS), 2025
Affordance-Guided Reinforcement Learning via Visual Prompting
International Conference on Intelligent Robots and Systems (IROS), 2025
SRT-H: A Hierarchical Framework for Autonomous Surgery via Language-Conditioned Imitation Learning
Science Robotics, 2025
RoboArena: Distributed Real-World Evaluation of Generalist Robot Policies
Conference on Robot Learning (CoRL), 2025
CoT-VLA: Visual Chain-of-Thought Reasoning for Vision-Language-Action Models
Conference on Computer Vision and Pattern Recognition (CVPR), 2025
Reinforcement Learning via Implicit Imitation Guidance
Just Enough Thinking: Efficient Reasoning with Adaptive Length Penalties Reinforcement Learning
Neural Information Processing Systems (NeurIPS), 2025
SpeedTuning: Speeding Up Policy Execution with Lightweight Reinforcement Learning
International Conference on Robotics and Automation (ICRA), 2025
RoboCrowd: Scaling Robot Data Collection through Crowdsourcing
International Conference on Robotics and Automation (ICRA), 2025
Commonsense Reasoning for Legged Robot Adaptation with Vision-Language Models
International Conference on Robotics and Automation (ICRA), 2025
Learning Long-Context Diffusion Policies via Past-Token Prediction
Conference on Robot Learning (CoRL), 2025
Don't Cut Corners: Exact Conditions for Modularity in Biologically Inspired Representations
International Conference on Learning Representations (ICLR), 2025
Bidirectional Decoding: Improving Action Chunking via Closed-Loop Resampling
International Conference on Learning Representations (ICLR), 2025
Latent Diffusion Planning for Imitation Learning
International Conference on Machine Learning (ICML), 2025
Fine-Tuning Vision-Language-Action Models: Optimizing Speed and Success
Robotics: Science and Systems (RSS), 2025
Hi Robot: Open-Ended Instruction Following with Hierarchical Vision-Language-Action Models
International Conference on Machine Learning (ICML), 2025
Towards System 2 Reasoning in LLMs: Learning How to Think With Meta Chain-of-Thought
MJ-Video: Benchmarking and Rewarding Video Generation with Fine-Grained Video Preference
Neural Information Processing Systems (NeurIPS), 2025
(Spotlight)
SutureBot: A Precision Framework & Benchmark For Autonomous End-to-End Suturing
Neural Information Processing Systems (NeurIPS) Datasets & Benchmarks Track, 2025
Improving Test-Time Search for LLMs with Backtracking Against In-Context Value Verifiers
Workshop on Self-Improving Foundation Models Without Human Supervision at International Conference on Learning Representations (ICLR), 2025
PERSONA: A Reproducible Testbed for Pluralistic Alignment
International Conference on Computational Linguistics (COLING), 2025
MJ-Bench: Is Your Multimodal Reward Model Really a Good Judge for Text-to-Image Generation?
Neural Information Processing Systems (NeurIPS), 2025
2024
Project and Probe: Sample-Efficient Domain Adaptation by Interpolating Orthogonal Features
International Conference on Learning Representations (ICLR), 2024
(Spotlight)
Self-Guided Masked Autoencoders for Domain-Agnostic Self-Supervised Learning
International Conference on Learning Representations (ICLR), 2024
AutoFT: Robust Fine-Tuning by Optimizing Hyperparameters on OOD Data
Scaling Laws for Reward Model Overoptimization in Direct Alignment Algorithms
Neural Information Processing Systems (NeurIPS), 2024
A Critical Evaluation of AI Feedback for Aligning Large Language Models
Neural Information Processing Systems (NeurIPS), 2024
Calibrating Language Models with Adaptive Temperature Scaling
Conference on Empirical Methods in Natural Language Processing (EMNLP), 2024
ALOHA Unleashed: A Simple Recipe for Robot Dexterity
Conference on Robot Learning (CoRL), 2024
Generative Reward Models
D5RL: Diverse Datasets for Data-Driven Deep Reinforcement Learning
Reinforcement Learning Conference (RLC), 2024
Agent Q: Advanced Reasoning and Learning for Autonomous AI Agents
Disentangling Length from Quality in Direct Preference Optimization
Findings of the Association for Computational Linguistics (ACL), 2024
Surgical Robot Transformer (SRT): Imitation Learning for Surgical Tasks
Conference on Robot Learning (CoRL), 2024
Robotic Control via Embodied Chain-of-Thought Reasoning
Conference on Robot Learning (CoRL), 2024
What Makes Pre-Trained Visual Representations Successful for Robust Manipulation?
Conference on Robot Learning (CoRL), 2024
Mobility VLA: Multimodal Instruction Navigation with Long-Context VLMs and Topological Graphs
Conference on Robot Learning (CoRL), 2024
To Err is Robotic: Rapid Value-Based Trial-and-Error during Deployment
PIGEON: Predicting Image Geolocations
Conference on Computer Vision and Pattern Recognition (CVPR), 2024
HumanPlus: Humanoid Shadowing and Imitation from Humans
Conference on Robot Learning (CoRL), 2024
OpenVLA: An Open-Source Vision-Language-Action Model
Conference on Robot Learning (CoRL), 2024
Efficient Imitation Learning with Conservative World Models
Learning for Dynamics and Control Conference (L4DC), 2024
Language Model Detectors Are Easily Optimized Against
International Conference on Learning Representations (ICLR), 2024
SERL: A Software Suite for Sample-Efficient Robotic Reinforcement Learning
IEEE International Conference on Robotics and Automation (ICRA), 2024
Mobile ALOHA: Learning Bimanual Mobile Manipulation using Low-Cost Whole-Body Teleoperation
Conference on Robot Learning (CoRL), 2024
From r to Q*: Your Language Model is Secretly a Q-Function
Conference on Language Modeling (COLM), 2024
Yell At Your Robot: Improving On-the-Fly from Language Corrections
Robotics: Science and Systems (RSS), 2024
RLVF: Learning from Verbal Feedback without Overgeneralization
International Conference on Machine Learning (ICML), 2024
Understanding Preference Fine-Tuning for Large Language Models
International Conference on Machine Learning (ICML), 2024
Tripod: Three Complementary Inductive Biases for Disentangled Representation Learning
International Conference on Machine Learning (ICML), 2024
Efficient Data Collection for Robotic Manipulation via Compositional Generalization
Robotics: Science and Systems (RSS), 2024
Pushing the Limits of Cross-Embodiment Learning for Manipulation and Navigation
Robotics: Science and Systems (RSS), 2024
A Fast and Accurate Machine Learning Autograder for the Breakout Assignment
ACM Special Interest Group on Computer Science Education (SIGCSE) Technical Symposium, 2024
DROID: A Large-Scale In-The-Wild Robot Manipulation Dataset
Robotics: Science and Systems (RSS), 2024
Evaluating Real-World Robot Manipulation Policies in Simulation
Conference on Robot Learning (CoRL), 2024
Open X-Embodiment: Robotic Learning Datasets and RT-X Models
International Conference on Robotics and Automation (ICRA), 2024
2023
Just ask for calibration: Strategies for eliciting calibrated confidence scores from language models fine-tuned with human feedback
Conference on Empirical Methods in Natural Language Processing (EMNLP), 2023
Fine-Tuning Language Models for Factuality
International Conference on Learning Representations (ICLR), 2023
MOTO: Offline Pre-training to Online Fine-tuning for Model-based Robot Learning
Conference on Robot Learning (CoRL), 2023
Q-Transformer: Scalable Offline Reinforcement Learning via Autoregressive Q-Functions
Conference on Robot Learning (CoRL), 2023
Bridgedata v2: A dataset for robot learning at scale
Conference on Robot Learning (CoRL), 2023
Waypoint-based imitation learning for robotic manipulation
Conference on Robot Learning (CoRL), 2023
Polybot: Training One Policy Across Robots While Embracing Variability
Conference on Robot Learning (CoRL), 2023
Self-Improving Robots: End-to-End Autonomous Visuomotor Reinforcement Learning
Conference on Robot Learning (CoRL), 2023
Open-world object manipulation using pre-trained vision-language models
Conference on Robot Learning (CoRL), 2023
Roboclip: one demonstration is enough to learn robot policies
Neural Information Processing Systems (NeurIPS), 2023
Direct preference optimization: Your language model is secretly a reward model
Neural Information Processing Systems (NeurIPS), 2023
Cal-ql: Calibrated offline rl pre-training for efficient online fine-tuning
Neural Information Processing Systems (NeurIPS), 2023
Permutation Equivariant Neural Functionals
Neural Information Processing Systems (NeurIPS), 2023
Disentanglement via Latent Quantization
Neural Information Processing Systems (NeurIPS), 2023
Self-destructing models: Increasing the costs of harmful dual uses of foundation models
AAAI/ACM Conference on AI, Ethics, and Society, 2023
Learning fine-grained bimanual manipulation with low-cost hardware
Robotics: Science and Systems (RSS), 2023
Behavior Retrieval: Few-Shot Imitation Learning by Querying Unlabeled Datasets
Robotics: Science and Systems (RSS), 2023
Language-driven representation learning for robotics
Robotics: Science and Systems (RSS), 2023
Pre-training for robots: Offline rl enables learning new tasks from a handful of trials
Robotics: Science and Systems (RSS), 2023
DetectGPT: Zero-Shot Machine-Generated Text Detection using Probability Curvature
International Conference on Machine Learning (ICML), 2023
(Oral)
NeRF in the Palm of Your Hand: Corrective Augmentation for Robotics via Novel-View Synthesis
Conference on Computer Vision and Pattern Recognition (CVPR), 2023
A Control-Centric Benchmark for Video Prediction
International Conference on Learning Representations (ICLR), 2023
Bitrate-Constrained DRO: Beyond Worst Case Robustness To Unknown Group Shifts
International Conference on Learning Representations (ICLR), 2023
Surgical Fine-Tuning Improves Adaptation to Distribution Shifts
International Conference on Learning Representations (ICLR), 2023
Diversify and disambiguate: Out-of-distribution robustness via disagreement
International Conference on Learning Representations (ICLR), 2023
Model-Based Adversarial Imitation Learning As Online Fine-Tuning
Workshop on Reincarnating Reinforcement Learning at International Conference on Learning Representations (ICLR), 2023
Train Offline, Test Online: A Real Robot Learning Benchmark
International Conference on Robotics and Automation (ICRA), 2023
Clarify: Improving Model Robustness with Natural Language Corrections
ACM Symposium on User Interface Software and Technology (UIST), 2024
Robot Fine-Tuning Made Easy: Pre-Training Rewards and Policies for Autonomous Real-World Reinforcement Learning
IEEE International Conference on Robotics and Automation (ICRA), 2023
Contrastive Preference Learning: Learning from Human Feedback without RL
International Conference on Learning Representations (ICLR), 2023
An Emulator for Fine-Tuning Large Language Models using Small Language Models
International Conference on Learning Representations (ICLR), 2023
Zero-shot robotic manipulation with pretrained image-editing diffusion models
International Conference on Learning Representations (ICLR), 2023
Offline Retraining for Online RL: Decoupled Policy Learning to Mitigate Exploration Bias
Analyzing and mitigating object hallucination in large vision-language models
International Conference on Learning Representations (ICLR), 2023
Giving Robots a Hand: Learning Generalizable Manipulation with Eye-in-Hand Human Video Demonstrations
Decomposing the generalization gap in imitation learning for visual robotic manipulation
IEEE International Conference on Robotics and Automation (ICRA), 2023
Improving Domain Generalization with Domain Relations
International Conference on Learning Representations (ICLR), 2024
Conservative Prediction via Data-Driven Confidence Minimization
Transactions on Machine Learning Research (TMLR), 2023
Confidence-Based Model Selection: When to Take Shortcuts for Subpopulation Shifts
2022
Enhancing Self-Consistency and Performance of Pre-Trained Language Models through Natural Language Inference
Conference on Empirical Methods in Natural Language Processing (EMNLP), 2022
MEMO: Test Time Robustness via Adaptation and Augmentation
Neural Information Processing Systems (NeurIPS), 2022
Multi-Domain Long-Tailed Learning by Augmenting Disentangled Representations
Transactions on Machine Learning Research (TMLR), 2022
Latent-Variable Advantage-Weighted Policy Optimization for Offline Reinforcement Learning
Neural Information Processing Systems (NeurIPS), 2022
You Only Live Once: Single Life Reinforcement Learning
Neural Information Processing Systems (NeurIPS), 2022
C-Mixup: Improving Generalization in Regression
Neural Information Processing Systems (NeurIPS), 2022
When to Ask for Help: Proactive Interventions in Autonomous Reinforcement Learning
Neural Information Processing Systems (NeurIPS), 2022
Wild-Time: A Benchmark of in-the-Wild Distribution Shift over Time
Neural Information Processing Systems (NeurIPS) Datasets & Benchmarks Track, 2022
Relaxing the Kolmogorov Structure Function for Realistic Computational Constraints
InfoCog Workshop at Neural Information Processing Systems (NeurIPS), 2022
Training and Evaluation of Deep Policies Using Reinforcement Learning and Generative Models
Journal of Machine Learning Research (JMLR), 2022
R3M: A Universal Visual Representation for Robot Manipulation
Conference on Robot Learning (CoRL), 2022
Offline Reinforcement Learning at Multiple Frequencies
Conference on Robot Learning (CoRL), 2022
Lifelong Robotic Reinforcement Learning by Retaining Experiences
Conference on Lifelong Learning Agents (CoLLAs), 2022
Memory-Based Model Editing at Scale
International Conference on Machine Learning (ICML), 2022
Improving Out-of-Distribution Robustness via Selective Augmentation
International Conference on Machine Learning (ICML), 2022
How to Leverage Unlabeled Data in Offline Reinforcement Learning
International Conference on Machine Learning (ICML), 2022
Robust Policy Learning over Multiple Uncertainty Sets
International Conference on Machine Learning (ICML), 2022
A State-Distribution Matching Approach to Non-Episodic Reinforcement Learning
International Conference on Machine Learning (ICML), 2022
Policy Architectures for Compositional Generalization in Control
Reinforcement Learning Conference (RLC), 2022
Correct-N-Contrast: a Contrastive Approach for Improving Robustness to Spurious Correlations
International Conference on Machine Learning (ICML), 2022
Play it by Ear: Learning Skills amidst Occlusion through Audio-Visual Imitation Learning
Robotics: Science and Systems (RSS), 2022
Bridge Data: Boosting Generalization of Robotic Skills with Cross-Domain Datasets
Robotics: Science and Systems (RSS), 2022
Vision-Based Manipulators Need to Also See from Their Hands
International Conference on Learning Representations (ICLR), 2022
(Oral)
Autonomous Reinforcement Learning: Formalism and Benchmarking
International Conference on Learning Representations (ICLR), 2022
Do Deep Networks Transfer Invariances Across Classes?
International Conference on Learning Representations (ICLR), 2022
Extending the WILDS Benchmark for Unsupervised Adaptation
International Conference on Learning Representations (ICLR), 2022
(Oral)
2021
Information is Power: Intrinsic Control via Information Capture
Neural Information Processing Systems (NeurIPS), 2021
Conservative Data Sharing for Multi-Task Offline Reinforcement Learning
Neural Information Processing Systems (NeurIPS), 2021
COMBO: Conservative Offline Model-Based Policy Optimization
Neural Information Processing Systems (NeurIPS), 2021
Visual Adversarial Imitation Learning using Variational Models
Neural Information Processing Systems (NeurIPS), 2021
Autonomous Reinforcement Learning via Subgoal Curricula
Neural Information Processing Systems (NeurIPS), 2021
Example-Based Offline Reinforcement Learning without Rewards
NeurIPS Offline Reinforcement Learning Workshop, 2021
Example-Driven Model-Based Reinforcement Learning for Solving Long-Horizon Visuomotor Tasks
Conference on Robot Learning (CoRL), 2021
A Workflow for Offline Model-Free Robotic Reinforcement Learning
Conference on Robot Learning (CoRL), 2021
Learning Language-Conditioned Robot Behavior from Offline Data and Crowd-Sourced Annotation
Conference on Robot Learning (CoRL), 2021
MT-Opt: Continuous Multi-Task Robotic Reinforcement Learning at Scale
Conference on Robot Learning (CoRL), 2021
Learning Generalizable Robotic Reward Functions from In-The-Wild Human Videos
Robotics: Science and Systems (RSS), 2021
Deep Reinforcement Learning amidst Continual Structured Non-Stationarity
International Conference on Machine Learning (ICML), 2021
Actionable Models: Unsupervised Offline Reinforcement Learning of Robotic Skills
International Conference on Machine Learning (ICML), 2021
Just Train Twice: Improving Group Robustness without Training Group Information
International Conference on Machine Learning (ICML), 2021
(Long Talk)
WILDS: A Benchmark of in the Wild Distribution Shifts
International Conference on Machine Learning (ICML), 2021
(Long Talk)
Greedy Hierarchical Variational Autoencoders for Large-Scale Video Prediction
Conference on Computer Vision and Pattern Recognition (CVPR), 2021
Offline Reinforcement Learning from Images with Latent Space Models
Learning for Decision Making and Control (L4DC), 2021
Batch Exploration with Examples for Scalable Robotic Reinforcement Learning
Robotics and Automation Letters (RA-L). International Conference on Robotics and Automation (ICRA), 2021
Recovery RL: Safe Reinforcement Learning with Learned Recovery Zones
Robotics and Automation Letters (RA-L). International Conference on Robotics and Automation (ICRA)
How to Train Your Robot with Deep Reinforcement Learning; Lessons We've Learned
International Journal of Robotics Research (IJRR), 2021
Model-Based Visual Planning with Self-Supervised Functional Distances
International Conference on Learning Representations (ICLR), 2021
(Spotlight)
SMiRL: Surprise Minimizing RL in Dynamic Environments
International Conference on Learning Representations (ICLR), 2021
(Oral)
2020
Reinforcement Learning with Videos: Combining Offline Observations with Interaction
Conference on Robot Learning (CoRL), 2020
(Oral)
Learning Latent Representations to Influence Multi-Agent Interaction
Conference on Robot Learning (CoRL), 2020
(Oral, Best Paper Award)
Never Stop Learning: The Effectiveness of Fine-Tuning in Robotic Reinforcement Learning
Conference on Robot Learning (CoRL), 2020
One Solution is Not All You Need: Few-Shot Extrapolation via Structured MaxEnt RL
Neural Information Processing Systems (NeurIPS), 2020
Continual Learning of Control Primitives: Skill Discovery via Reset-Games
Neural Information Processing Systems (NeurIPS)
Gradient Surgery for Multi-Task Learning
Neural Information Processing Systems (NeurIPS), 2020
Weakly-Supervised Reinforcement Learning for Controllable Behavior
Neural Information Processing Systems (NeurIPS), 2020
Long-Horizon Visual Planning with Goal-Conditioned Hierarchical Predictors
Neural Information Processing Systems (NeurIPS), 2020
Learning Predictive Models From Observation and Interaction
European Conference on Computer Vision (ECCV), 2020
Goal-Aware Prediction: Learning to Model What Matters
International Conference on Machine Learning (ICML), 2020
Cautious Adaptation For Reinforcement Learning in Safety-Critical Settings
International Conference on Machine Learning (ICML), 2020
Scalable Multi-Task Imitation Learning with Autonomous Improvement
International Conference on Robotics and Automation (ICRA), 2020
Time Reversal as Self-Supervision
International Conference on Robotics and Automation (ICRA), 2020
OmniTact: Compact Multi-Directional Optical Tactile Sensor for Robotic Manipulation
International Conference on Robotics and Automation (ICRA), 2020
Hierarchical Foresight: Self-Supervised Learning of Long-Horizon Tasks via Visual Subgoal Generation
International Conference on Learning Representations (ICLR), 2020
Model-Based Reinforcement Learning for Atari
International Conference on Learning Representations (ICLR), 2020
(Spotlight)
VideoFlow: A Flow-Based Generative Model for Video
International Conference on Learning Representations (ICLR), 2020
Learning to Interactively Learn and Assist
AAAI Conference on Artificial Intelligence, 2020
(Oral)
2019
RoboNet: Large-Scale Multi-Robot Learning
Conference on Robot Learning (CoRL), 2019
Language as an Abstraction for Hierarchical Reinforcement Learning
Neural Information Processing Systems (NeurIPS), 2019
Guided Meta-Policy Search
Neural Information Processing Systems (NeurIPS)
(Spotlight)
One-Shot Hierarchical Imitation Learning of Compound Visuomotor Tasks
International Conference on Intelligent Robots and Systems (IROS), 2019
End-to-End Robotic Reinforcement Learning without Reward Engineering
Robotics: Science and Systems (RSS), 2019
Improvisation through Physical Understanding: Using Novel Objects as Tools with Visual Foresight
Robotics: Science and Systems (RSS), 2019
Unsupervised Visuomotor Control Through Distributional Planning Networks
Robotics: Science and Systems (RSS), 2019
Manipulation by Feel: Touch-Based Control with Deep Predictive Models
International Conference on Robotics and Automation (ICRA), 2019
Reasoning About Physical Interactions with Object-Oriented Prediction and Planning
International Conference on Learning Representations (ICLR), 2019
2018
Robustness via Retrying: Closed-Loop Robotic Manipulation via Self-Supervised Learning
Conference on Robot Learning (CoRL), 2018
Stochastic Variational Video Prediction
International Conference on Learning Representations (ICLR), 2018
Deep Reinforcement Learning for Vision-Based Robotic Grasping: A Simulated Comparative Evaluation of Off-Policy Methods
International Conference on Robotics and Automation (ICRA), 2018
2017
Self-Supervised Visual Planning with Temporal Skip Connections
Conference on Robot Learning (CoRL), 2017
(Long Talk)
Generalizing Skills with Semi-Supervised Reinforcement Learning
International Conference on Learning Representations (ICLR), 2017
Deep Visual Foresight for Planning Robot Motion
International Conference on Robotics and Automation (ICRA), 2017
(Best Cognitive Robotics Paper Finalist)
Reset-Free Guided Policy Search: Efficient Deep Reinforcement Learning with Stochastic Initial States
International Conference on Robotics and Automation (ICRA), 2017
2016
A Connection Between Generative Adversarial Networks, Inverse Reinforcement Learning, and Energy-Based Models
NIPS Workshop on Adversarial Training, 2016
Unsupervised Learning for Physical Interaction through Video Prediction
Neural Information Processing Systems (NIPS), 2016
Adapting Deep Visuomotor Representations with Weak Pairwise Constraints
Workshop on the Algorithmic Foundations of Robotics (WAFR), 2016
Guided Cost Learning: Deep Inverse Optimal Control via Policy Optimization
International Conference on Machine Learning (ICML), 2016
End-to-End Training of Deep Visuomotor Policies
Journal of Machine Learning Research (JMLR), 2016
Learning Deep Neural Network Policies with Continuous Memory States
International Conference on Robotics and Automation (ICRA), 2016
Deep Spatial Autoencoders for Visuomotor Learning
International Conference on Robotics and Automation (ICRA), 2016