3 accepted papers
A central challenge of visual control with model-based reinforcement learning (RL) is reliable long-horizon planning: Long rollouts with learned latent dynamics exhibit branching futures and multi-modal action-value distributions. In addition, compounding model error amplified by visual occlusions m…
Real-world applications of vision-based robot learning face two major challenges: extreme partial observability and effective simulation-to-reality (sim-to-real) transfer. This letter introduces a robust robot learning framework that enhances uncertainty awareness to address these challenges. We rei
This paper studies sand profile grading, a manipulation task to obtain a desired geometric curve in sand. Manipulating sand is challenging because like other amorphous materials, its properties are difficult to estimate and emergent effects such as collapses may occur which both influence the manipu