Ajay U. Mandlekar – Publications

For a complete list please see Google Scholar.

Preprints

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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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Generalization through Hand-Eye Coordination: An Action Space for Learning Spatially-Invariant Visuomotor Control

Chen Wang*, Rui Wang*, Ajay Mandlekar, Li Fei-Fei, Silvio Savarese, Danfei Xu

Under Review

[pdf] [website]

Technical Reports

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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]

Publications

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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

ICRA 2021

[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

ICRA 2021

[pdf] [website] [video] [talk]

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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]

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]