Objects and Keypoints

Model-Based Inverse Reinforcement Learning from Visual Demonstrations

We learn reward functions in unsupervised object keypoint space, to allow us to follow third-person demonstrations with model-based RL.

Neha Das, Sarah Bechtle, Todor Davchev, Dinesh Jayaraman, Akshara Rai, Franziska Meier

MAVRIC: Morphology-Agnostic Visual Robotic Control

We demonstrate visual control within 20 seconds on a robot with unknown morphology, from a single uncalibrated RGBD camera.

Brian Yang, Dinesh Jayaraman, Glen Berseth, Alexei Efros, Sergey Levine