Shawn Manuel — accepted AI-conference papers

2023

Model Predictive Optimized Path Integral Strategies

Dylan M. Asmar, Ransalu Senanayake, Shawn Manuel, Mykel J. Kochenderfer

ICRA 2023poster

We generalize the derivation of model predictive path integral control (MPPI) to allow for a single joint distribution across controls in the control sequence. This reformation allows for the implementation of adaptive importance sampling (AIS) algorithms into the original importance sampling step w…

Cited by 24 Source ↗code ↗Scholar ↗

2021

LASER: Learning a Latent Action Space for Efficient Reinforcement Learning

Arthur Allshire, Roberto Martín-Martín, Charles Lin, Shawn Manuel, Silvio Savarese, Animesh Garg

ICRA 2021poster

The process of learning a manipulation task depends strongly on the action space used for exploration: posed in the incorrect action space, solving a task with reinforcement learning can be drastically inefficient. Additionally, similar tasks or instances of the same task family impose latent manifo…

Cited by 69 Source ↗Scholar ↗