Recent Publications
Model-free Neural Lyapunov Control for Safe Robot Navigation
Abstract— Co-learning a Twin Neural Lyapunov Function and Deep Reinforcement Learning control policy for locomotion tasks.
IROS'22NeRP: Neural Rearrangement Planning for Unknown Objects
Abstract— NeRP is a learning-based approach for multi-step neural object rearrangement planning with never-before-seen objects in the real world.
RSS'21Constrained Motion Planning Networks X
Abstract— CoMPNetX is a neural planning approach with a fast projection operator for solving constrained manipulation tasks.
TRO'21Composing Task-Agnostic Policies via Deep Reinforcement Learning
Abstract— A deep reinforcement learning-based skill transfer and composition method for robot location tasks.
ICLR'20Adversarial Imitation Via Variational Inverse Reinforcement Learning
Abstract— Empowerment-regularized Adversarial Inverse Reinforcement Learning to infer transferable near-optimal rewards functions.
ICLR'19