Implicit Kinematic Policies: Unifying Joint and Cartesian Action Spaces in End-to-End Robot Learning

IEEE International Conference on Robotics and Automation (ICRA), 2022

3 March 2022

Papers citing "Implicit Kinematic Policies: Unifying Joint and Cartesian Action Spaces in End-to-End Robot Learning"

38 / 38 papers shown

Title
CodeDiffuser: Attention-Enhanced Diffusion Policy via VLM-Generated Code for Instruction Ambiguity Guang Yin Yitong Li Yixuan Wang D. Mcconachie Paarth Shah Kunimatsu Hashimoto Huan Zhang Katherine Liu Yunzhu Li LM&Ro 147 5 0 19 Jun 2025
Learning dissection trajectories from expert surgical videos via imitation learning with equivariant diffusion Hongyu Wang Yonghao Long Yueyao Chen Hon-Chi Yip Markus Scheppach Philip Wai-Yan Chiu Y. Yam Helen M. Meng Qi Dou MedIm 202 5 0 05 Jun 2025
Redundancy-aware Action Spaces for Robot LearningIEEE Robotics and Automation Letters (RA-L), 2024 Pietro Mazzaglia Nicholas Backshall Xiao Ma Stephen James 209 5 0 06 Jun 2024
On the Role of the Action Space in Robot Manipulation Learning and Sim-to-Real Transfer Elie Aljalbout Felix Frank Maximilian Karl Patrick van der Smagt 227 27 0 06 Dec 2023
SceneScore: Learning a Cost Function for Object Arrangement Ivan Kapelyukh Edward Johns OffRL DiffM OCL 204 5 0 14 Nov 2023
Diffusion Model-Augmented Behavioral CloningInternational Conference on Machine Learning (ICML), 2023 Shangcheng Chen Hsiang-Chun Wang Ming-Hao Hsu Chun-Mao Lai Shao-Hua Sun DiffM 402 38 0 26 Feb 2023
Where To Start? Transferring Simple Skills to Complex EnvironmentsConference on Robot Learning (CoRL), 2022 Vitalis Vosylius Edward Johns 207 13 0 12 Dec 2022
CLAS: Coordinating Multi-Robot Manipulation with Central Latent Action SpacesConference on Learning for Dynamics & Control (L4DC), 2022 Elie Aljalbout Maximilian Karl Patrick van der Smagt 153 6 0 28 Nov 2022
SE(3)-Equivariant Relational Rearrangement with Neural Descriptor FieldsConference on Robot Learning (CoRL), 2022 Anthony Simeonov Yilun Du Lin Yen-Chen Alberto Rodriguez L. Kaelbling Tomas Lozano-Perez Pulkit Agrawal 207 66 0 17 Nov 2022
Visual Language Maps for Robot NavigationIEEE International Conference on Robotics and Automation (ICRA), 2022 Chen Huang Oier Mees Andy Zeng Wolfram Burgard LM&Ro 616 494 0 11 Oct 2022
Chain of Thought Imitation with Procedure CloningNeural Information Processing Systems (NeurIPS), 2022 Mengjiao Yang Dale Schuurmans Pieter Abbeel Ofir Nachum OffRL 211 42 0 22 May 2022
Implicit Behavioral CloningConference on Robot Learning (CoRL), 2021 Peter R. Florence Corey Lynch Andy Zeng Oscar Ramirez Ayzaan Wahid Laura Downs Adrian S. Wong Johnny Lee Igor Mordatch Jonathan Tompson OffRL 436 523 0 01 Sep 2021
Learning Task Space Actions for Bipedal Locomotion Helei Duan Jeremy Dao Kevin R. Green Taylor Apgar Alan Fern J. Hurst 207 54 0 09 Nov 2020
Plan-Space State Embeddings for Improved Reinforcement Learning Max Pflueger Gaurav Sukhatme 109 1 0 30 Apr 2020
Gradient Surgery for Multi-Task LearningNeural Information Processing Systems (NeurIPS), 2020 Tianhe Yu Saurabh Kumar Abhishek Gupta Sergey Levine Karol Hausman Chelsea Finn 701 1,498 0 19 Jan 2020
Hierarchical Foresight: Self-Supervised Learning of Long-Horizon Tasks via Visual Subgoal GenerationInternational Conference on Learning Representations (ICLR), 2019 Suraj Nair Chelsea Finn VGen 167 142 0 12 Sep 2019
A Comparison of Action Spaces for Learning Manipulation TasksIEEE/RJS International Conference on Intelligent RObots and Systems (IROS), 2019 Patrick Varin Lev Grossman S. Kuindersma 122 37 0 23 Aug 2019
Variable Impedance Control in End-Effector Space: An Action Space for Reinforcement Learning in Contact-Rich TasksIEEE/RJS International Conference on Intelligent RObots and Systems (IROS), 2019 Roberto Martín-Martín Michelle A. Lee Rachel Gardner Silvio Savarese Jeannette Bohg Animesh Garg 179 217 0 20 Jun 2019
The Convergence Rate of Neural Networks for Learned Functions of Different FrequenciesNeural Information Processing Systems (NeurIPS), 2019 Ronen Basri David Jacobs Yoni Kasten S. Kritchman 330 240 0 02 Jun 2019
On the Inductive Bias of Neural Tangent KernelsNeural Information Processing Systems (NeurIPS), 2019 A. Bietti Julien Mairal 276 286 0 29 May 2019
Autoregressive Energy Machines C. Nash Conor Durkan 106 55 0 11 Apr 2019
Residual Policy Learning Tom Silver Kelsey R. Allen J. Tenenbaum L. Kaelbling OffRL 356 195 0 15 Dec 2018
Residual Reinforcement Learning for Robot Control T. Johannink Shikhar Bahl Ashvin Nair Jianlan Luo Avinash Kumar M. Loskyll J. A. Ojea Eugen Solowjow Sergey Levine OffRL 224 484 0 07 Dec 2018
Representation Learning with Contrastive Predictive Coding Aaron van den Oord Yazhe Li Oriol Vinyals DRL SSL 1.7K 12,057 0 10 Jul 2018
On the Spectral Bias of Neural Networks Nasim Rahaman A. Baratin Devansh Arpit Felix Dräxler Min Lin Fred Hamprecht Yoshua Bengio Aaron Courville 513 1,840 0 22 Jun 2018
Relational inductive biases, deep learning, and graph networks Peter W. Battaglia Jessica B. Hamrick V. Bapst Alvaro Sanchez-Gonzalez V. Zambaldi ... Pushmeet Kohli M. Botvinick Oriol Vinyals Yujia Li Razvan Pascanu AI4CE NAI 1.2K 3,370 0 04 Jun 2018
Sim-to-Real: Learning Agile Locomotion For Quadruped Robots Jie Tan Tingnan Zhang Erwin Coumans Atil Iscen Yunfei Bai Danijar Hafner Steven Bohez Vincent Vanhoucke 327 893 0 27 Apr 2018
Latent Space Policies for Hierarchical Reinforcement Learning Tuomas Haarnoja Kristian Hartikainen Pieter Abbeel Sergey Levine BDL 173 200 0 09 Apr 2018
DDCO: Discovery of Deep Continuous Options for Robot Learning from Demonstrations S. Krishnan Roy Fox Ion Stoica Ken Goldberg 174 87 0 15 Oct 2017
Learning a Structured Neural Network Policy for a Hopping Task Julian Viereck Jules Kozolinsky Alexander Herzog Ludovic Righetti 259 12 0 29 Sep 2017
Learning Complex Dexterous Manipulation with Deep Reinforcement Learning and Demonstrations Aravind Rajeswaran Vikash Kumar Abhishek Gupta Giulia Vezzani John Schulman E. Todorov Sergey Levine 392 1,248 0 28 Sep 2017
A Closer Look at Memorization in Deep Networks Devansh Arpit Stanislaw Jastrzebski Nicolas Ballas David M. Krueger Emmanuel Bengio ... Tegan Maharaj Asja Fischer Aaron Courville Yoshua Bengio Damien Scieur TDI 513 2,028 0 16 Jun 2017
Data-efficient Deep Reinforcement Learning for Dexterous Manipulation I. Popov N. Heess Timothy Lillicrap Agrim Gupta Gabriel Barth-Maron Matej Vecerík Thomas Lampe Yuval Tassa Tom Erez Martin Riedmiller OffRL 237 274 0 10 Apr 2017
Understanding deep learning requires rethinking generalization Chiyuan Zhang Samy Bengio Moritz Hardt Benjamin Recht Oriol Vinyals HAI 693 4,890 0 10 Nov 2016
Learning Locomotion Skills Using DeepRL: Does the Choice of Action Space Matter? Xue Bin Peng M. van de Panne 219 192 0 03 Nov 2016
Deep Residual Learning for Image Recognition Kaiming He Xinming Zhang Shaoqing Ren Jian Sun MedIm 3.6K 215,422 0 10 Dec 2015
Continuous control with deep reinforcement learning Timothy Lillicrap Jonathan J. Hunt Alexander Pritzel N. Heess Tom Erez Yuval Tassa David Silver Daan Wierstra 926 14,573 0 09 Sep 2015
End-to-End Training of Deep Visuomotor PoliciesJournal of machine learning research (JMLR), 2015 Sergey Levine Chelsea Finn Trevor Darrell Pieter Abbeel BDL 735 3,614 0 02 Apr 2015