Ajay U. Mandlekar – Research
Recent News
[December 2020] We recently extended RoboTurk to enable human-in-the-loop teleoperation and developed Intervention Weighted Regression, a simple and effective algorithm to learn from such interventions. We showcase results on two challenging contact-rich manipulation tasks requiring precision to solve.
Publications
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Human-in-the-Loop Imitation Learning using Remote Teleoperation
Ajay Mandlekar, Danfei Xu*, Roberto Martin-Martin*, Yuke Zhu, Li Fei-Fei, Silvio Savarese
Under Review
[pdf] [website] [video]
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Learning Multi-Arm Manipulation Through Collaborative Teleoperation
Albert Tung*, Josiah Wong*, Ajay Mandlekar, Roberto Martin-Martin, Yuke Zhu, Li Fei-Fei, Silvio Savarese
Under Review
[pdf] [website] [video]
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Deep Affordance Foresight: Planning Through What Can Be Done in the Future
Danfei Xu, Ajay Mandlekar, Roberto Martin-Martin, Yuke Zhu, Silvio Savarese, Li Fei-Fei
Under Review
[pdf] [website] [video] [talk]
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robosuite: A Modular Simulation Framework and Benchmark for Robot Learning
Yuke Zhu, Josiah Wong, Ajay Mandlekar, Roberto Martin-Martin
Technical Report
[pdf] [website]
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Learning to Generalize Across Long-Horizon Tasks from Human Demonstrations
Ajay Mandlekar*, Danfei Xu*, Roberto Martin-Martin, Silvio Savarese, Li Fei-Fei
RSS 2020
[pdf] [website] [video]
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IRIS: Implicit Reinforcement without Interaction at Scale for Learning Control from Offline Robot Manipulation Data
Ajay Mandlekar, Fabio Ramos, Byron Boots, Silvio Savarese, Li Fei-Fei
, Animesh Garg, Dieter Fox
ICRA 2020
[pdf] [website] [video]
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Controlling Assistive Robots with Learned Latent Actions
Dylan P. Losey, Krishnan Srinivasan, Ajay Mandlekar, Animesh Garg, Dorsa Sadigh
ICRA 2020
[pdf] [blog] [video]
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Scaling Robot Supervision to Hundreds of Hours with RoboTurk: Robotic Manipulation Dataset through Human Reasoning and Dexterity
Ajay Mandlekar, Jonathan Booher, Max Spero, Albert Tung, Anchit Gupta, Yuke Zhu, Animesh Garg, Silvio Savarese, Li Fei-Fei
Best Cognitive Robotics Paper Finalist
IROS 2019
[pdf] [website] [blog] [talk]
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AC-Teach: A Bayesian Actor-Critic Method for Policy Learning with an Ensemble of Suboptimal Teachers
Andrey Kurenkov*, Ajay Mandlekar*, Roberto Martin-Martin, Silvio Savarese, Animesh Garg
CoRL 2019
[pdf] [website] [blog] [talk]
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RoboTurk: A Crowdsourcing Platform for Robotic Skill Learning through Imitation
Ajay Mandlekar, Yuke Zhu, Animesh Garg, Jonathan Booher, Max Spero, Albert Tung, Julian Gao, John Emmons, Anchit Gupta, Emre Orbay, Silvio Savarese, Li Fei-Fei
CoRL 2018
[pdf] [website] [talk]
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Adversarially Robust Policy Learning: Active Construction of Physically-Plausible Perturbations
Ajay Mandlekar*, Yuke Zhu*, Animesh Garg*, Li Fei-Fei, Silvio Savarese
IROS 2017
[pdf] [website] [video]
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Risk-sensitive Inverse Reinforcement Learning via Coherent Risk Models
Anirudha Majumdar, Sumeet Singh, Ajay Mandlekar, Marco Pavone
RSS 2017
[pdf]
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