Pieter Abbeel

Preferences Implicit in the State of the World

Rohin Shah, Dmitrii Krasheninnikov, Jordan Alexander, Pieter Abbeel, Anca Dragan

Comments Published at ICLR 2019

Quasi-Direct Drive for Low-Cost Compliant Robotic Manipulation

David V. Gealy, Stephen McKinley, Brent Yi, Philipp Wu, Phillip R. Downey, Greg Balke, Allan Zhao, Menglong Guo, Rachel Thomasson, Anthony Sinclair, Peter Cuellar, Zoe McCarthy, Pieter Abbeel

Comments This is our long version - 8 pages. Our 6 page version without a discussion of thermal limits was accepted to ICRA 2019. 11 Figures

Towards Characterizing Divergence in Deep Q-Learning

Joshua Achiam, Ethan Knight, Pieter Abbeel

Reinforcement Learning on Variable Impedance Controller for High-Precision Robotic Assembly

Jianlan Luo, Eugen Solowjow, Chengtao Wen, Juan Aparicio Ojea, Alice M. Agogino, Aviv Tamar, Pieter Abbeel

Comments ICRA 2019. More video results at https://sites.google.com/berkeley.edu/rl-robotic-assembly/home

Domain Randomization for Active Pose Estimation

Xinyi Ren, Jianlan Luo, Eugen Solowjow, Juan Aparicio Ojea, Abhishek Gupta, Aviv Tamar, Pieter Abbeel

Comments Accepted at International Conference on Robotics and Automation (ICRA) 2019

Learning to Adapt in Dynamic, Real-World Environments Through Meta-Reinforcement Learning

Anusha Nagabandi, Ignasi Clavera, Simin Liu, Ronald S. Fearing, Pieter Abbeel, Sergey Levine, Chelsea Finn

Comments First 2 authors contributed equally. Website: https://sites.google.com/berkeley.edu/metaadaptivecontrol

Generalization through Simulation: Integrating Simulated and Real Data into Deep Reinforcement Learning for Vision-Based Autonomous Flight

Katie Kang, Suneel Belkhale, Gregory Kahn, Pieter Abbeel, Sergey Levine

Comments First three authors contributed equally. Accepted to ICRA 2019

Guiding Policies with Language via Meta-Learning

John D. Co-Reyes, Abhishek Gupta, Suvansh Sanjeev, Nick Altieri, Jacob Andreas, John DeNero, Pieter Abbeel, Sergey Levine

Comments Accepted at ICLR 2019

Some Considerations on Learning to Explore via Meta-Reinforcement Learning

Bradly C. Stadie, Ge Yang, Rein Houthooft, Xi Chen, Yan Duan, Yuhuai Wu, Pieter Abbeel, Ilya Sutskever

Accelerated Methods for Deep Reinforcement Learning

Adam Stooke, Pieter Abbeel

Comments v2: -Added game performance statistics summary for algorithm scaling across full Atari game set. -Added full set of learning curves (appendix). -Fixed images to remove phantom borders. -Streamlined some discussion, moved some details to appendix

An Algorithmic Perspective on Imitation Learning

Takayuki Osa, Joni Pajarinen, Gerhard Neumann, J. Andrew Bagnell, Pieter Abbeel, Jan Peters

Comments 187 pages. Published in Foundations and Trends in Robotics

Modular Architecture for StarCraft II with Deep Reinforcement Learning

Dennis Lee, Haoran Tang, Jeffrey O Zhang, Huazhe Xu, Trevor Darrell, Pieter Abbeel

Comments Accepted to The 14th AAAI Conference on Artificial Intelligence and Interactive Digital Entertainment (AIIDE'18)

One-Shot Hierarchical Imitation Learning of Compound Visuomotor Tasks

Tianhe Yu, Pieter Abbeel, Sergey Levine, Chelsea Finn

Comments Video results available at https://sites.google.com/view/one-shot-hil

Establishing Appropriate Trust via Critical States

Sandy H. Huang, Kush Bhatia, Pieter Abbeel, Anca D. Dragan

Comments IROS 2018

Enabling Robots to Communicate their Objectives

Sandy H. Huang, David Held, Pieter Abbeel, Anca D. Dragan

Comments RSS 2017

Composable Action-Conditioned Predictors: Flexible Off-Policy Learning for Robot Navigation

Gregory Kahn, Adam Villaflor, Pieter Abbeel, Sergey Levine

Comments Accepted to the Conference on Robot Learning (CoRL) 2018. Video at https://youtu.be/lOLT7zifEkg

SFV: Reinforcement Learning of Physical Skills from Videos

Xue Bin Peng, Angjoo Kanazawa, Jitendra Malik, Pieter Abbeel, Sergey Levine

Equivalence Between Policy Gradients and Soft Q-Learning

John Schulman, Xi Chen, Pieter Abbeel

Model-Ensemble Trust-Region Policy Optimization

Thanard Kurutach, Ignasi Clavera, Yan Duan, Aviv Tamar, Pieter Abbeel

Learning with Opponent-Learning Awareness

Jakob N. Foerster, Richard Y. Chen, Maruan Al-Shedivat, Shimon Whiteson, Pieter Abbeel, Igor Mordatch

Model-Based Reinforcement Learning via Meta-Policy Optimization

Ignasi Clavera, Jonas Rothfuss, John Schulman, Yasuhiro Fujita, Tamim Asfour, Pieter Abbeel

Comments First 2 authors contributed equally. Accepted for Conference on Robot Learning (CoRL)

Latent Space Policies for Hierarchical Reinforcement Learning

Tuomas Haarnoja, Kristian Hartikainen, Pieter Abbeel, Sergey Levine

Comments ICML 2018; Videos: https://sites.google.com/view/latent-space-deep-rl Code: https://github.com/haarnoja/sac

Transfer Learning for Estimating Causal Effects using Neural Networks

Sören R. Künzel, Bradly C. Stadie, Nikita Vemuri, Varsha Ramakrishnan, Jasjeet S. Sekhon, Pieter Abbeel

Soft Actor-Critic: Off-Policy Maximum Entropy Deep Reinforcement Learning with a Stochastic Actor

Tuomas Haarnoja, Aurick Zhou, Pieter Abbeel, Sergey Levine

Comments ICML 2018 Videos: sites.google.com/view/soft-actor-critic Code: github.com/haarnoja/sac

DeepMimic: Example-Guided Deep Reinforcement Learning of Physics-Based Character Skills

Xue Bin Peng, Pieter Abbeel, Sergey Levine, Michiel van de Panne

Variational Option Discovery Algorithms

Joshua Achiam, Harrison Edwards, Dario Amodei, Pieter Abbeel

Learning Plannable Representations with Causal InfoGAN

Thanard Kurutach, Aviv Tamar, Ge Yang, Stuart Russell, Pieter Abbeel

Comments ICML / IJCAI / AAMAS 2018 Workshop on Planning and Learning (PAL-18)

Learning Robotic Assembly from CAD

Garrett Thomas, Melissa Chien, Aviv Tamar, Juan Aparicio Ojea, Pieter Abbeel

Comments In the proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Brisbane, Australia, May 2018

Learning Generalized Reactive Policies using Deep Neural Networks

Edward Groshev, Maxwell Goldstein, Aviv Tamar, Siddharth Srivastava, Pieter Abbeel

Safer Classification by Synthesis

William Wang, Angelina Wang, Aviv Tamar, Xi Chen, Pieter Abbeel