Recent News

  • [July 2020] Our new algorithm, Generalization Through Imitation (GTI), will appear at RSS 2020. It enables learning visuomotor control from human demonstrations and generalizing to new long-horizon tasks by leveraging latent compositional structures. See our paper, website, and video for more details.

Publications

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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

In Review

[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]

RoboTurk Real Dataset 

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]

AC-Teach Figure 

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]

RoboTurk Figure 

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]

ARPL Figure 

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]

RSIRL Figure 

Risk-sensitive Inverse Reinforcement Learning via Coherent Risk Models

Anirudha Majumdar, Sumeet Singh, Ajay Mandlekar, Marco Pavone

RSS 2017

[pdf]