16881 - Special Topics: Deep Reinforcement Learning for Robotics, Spring 2021

	A	B	C	D	E	F	G	H	I	J
1	Date	Week #	Class number	Bonus points	Presenter 1	Presenter 2	Section	Theme	Paper	Presentations

2	Feb 9	2	0	3	mfogelso	devals	Low-level skills	Bipedal locomotion	Sim-to-Real Transfer for Biped Locomotion
3	Feb 9	2	0	3	zixuanhu	yifanzh3	Low-level skills	Quadrupedal locomotion	Learning Agile Robotic Locomotion Skills by Imitating Animals
4	Feb 11	2	1	2.46	yeehos		Low-level skills	Quadrupedal locomotion	Learning agile and dynamic motor skills for legged robots
5	Feb 11	2	1	2.46	swapnilp		Low-level skills	Quadrupedal locomotion	Learning a Contact-Adaptive Controller for Robust, Efficient Legged Locomotion
6	Feb 16	3	2	2.01	dheld		Low-level skills	Quadrupedal locomotion	Learning quadrupedal locomotion over challenging terrain
7	Feb 16	3	2	2.01	baeisner	xindiw	Low-level skills	Quadrupedal locomotion	Towards General and Autonomous Learning of Core Skills: A Case Study in Locomotion
8	Feb 18	3	3	1.65	hcoffin	cbhaumik	Low-level skills	Aerial Vehicles	AlphaPilot: Autonomous Drone Racing
9	Feb 18	3	3	1.65	qiaog	msingh2	Low-level skills	Aerial Vehicles	Deep Drone Acrobatics
10	Feb 23	No class (break day)
11	Feb 23	No class (break day)
12	Feb 25	4	4	1.35	xindiw		Low-level skills	Drifting	Ensemble Bayesian Decision Making with Redundant Deep Perceptual Control Policies
13	Feb 25	4	4	1.35	weiyezha		Low-level skills	Drifting	Locally Weighted Regression Pseudo-Rehearsal for Online Learning of Vehicle Dynamics
14	Mar 2	5	5	1.1	baeisner		Low-level skills	Manipulation	Deep Dynamics Models for Learning Dexterous Manipulation
15	Mar 2	5	5	1.1	cbhaumik		Low-level skills	Manipulation	QT-Opt: Scalable Deep Reinforcement Learning for Vision-Based Robotic Manipulation
16	Mar 4	5	6	0.9	zixuanhu	qiaog	Low-level skills	Manipulation	Keypoints into the Future: Self-Supervised Correspondence in Model-Based Reinforcement Learning
17	Mar 4	5	6	0.9	msingh2		Low-level skills	Manipulation	Learning Dense Rewards for Contact-Rich Manipulation Tasks
18	Mar 9	6	7	0.74	mfogelso		Low-level skills	Manipulation	Tactile-RL for Insertion: Generalization to Objects of Unknown Geometry
19	Mar 9	6	7	0.74	devals		Low-level skills	Manipulation	Controlling Contact-Rich Manipulation Under Partial Observability
20	Mar 11	6	8	0.61	xindiw	yifanzh3	Low-level skills	Manipulation	Robots of the Lost Arc: Learning to Dynamically Manipulate Fixed-Endpoint Ropes and Cables
21	Mar 11	6	8	0.61	qiaog	baeisner	Low-level skills	Manipulation	Self-Supervised Learning of State Estimation for Manipulating Deformable Linear Objects
22	Mar 16	7	9	0.5	yifanzh3	cbhaumik	Low-level skills	Manipulation	Learning Arbitrary-Goal Fabric Folding with One Hour of Real Robot Experience
23	Mar 16	7	9	0.5	swapnilp	qiaog	Low-level skills	Manipulation	VisuoSpatial Foresight for Multi-Step, Multi-Task Fabric Manipulation
24	Mar 18	7	10	0.41	yeehos	devals	Low-level skills	Sim2Real Transfer	Solving Rubik's Cube with a Robot Hand
25	Mar 18	7	10	0.41	weiyezha	msingh2	Low-level skills	Sim2Real Transfer	Closing the Sim-to-Real Loop: Adapting Simulation Randomization with Real World Experience
26	Mar 23	8	11	0.33	hcoffin	baeisner	Low-level skills	Sim2Real Transfer	BayesSim: adaptive domain randomization via probabilistic inference for robotics simulators
27	Mar 23	8	11	0.33	zixuanhu	cbhaumik	Low-level skills	Sim2Real Transfer	Fast Online Adaptation in Robotics through Meta-Learning Embeddings of Simulated Priors
28	Mar 25	8	12	0.27	yifanzh3	hcoffin	High-level reasoning	Multi-agent coordination	Learning a Decentralized Multi-arm Motion Planner
29	Mar 25	8	12	0.27	mfogelso	weiyezha	High-level reasoning	Multi-agent coordination	Learning Latent Representations to Influence Multi-Agent Interaction
30	Mar 30		13	0.22	zixuanhu	cbhaumik	High-level reasoning	Autonomous Driving	ChauffeurNet: Learning to Drive by Imitating the Best and Synthesizing the Worst
31	Mar 30		13	0.22	weiyezha	msingh2	High-level reasoning	Autonomous Driving	Learning by Cheating
32	Apr 1		14	0.18	swapnilp	msingh2	High-level reasoning	Mechanical Search	Visuomotor Mechanical Search: Learning to Retrieve Target Objects in Clutter
33	Apr 1		14	0.18	hcoffin	mfogelso	High-level reasoning	Mechanical Search	A Deep Learning Approach to Grasping the Invisible
34	Apr 6		15	0.15	zixuanhu	qiaog	High-level reasoning	Tool Use	KETO: Learning Keypoint Representations for Tool Manipulation
35	Apr 6		15	0.15	xindiw		High-level reasoning	Tool Use	Tool Macgyvering: A Novel Framework for Combining Tool Substitution and Construction
36	Apr 8		Guest Lecture: Jeannette Bohg
37	Apr 8		Guest Lecture: Jeannette Bohg
38	Apr 13		16	0.12	baeisner	qiaog	High-level reasoning	Navigation	Semantic and Geometric Modeling with Neural Message Passing in 3D Scene Graphs for Hierarchical Mechanical Search
39	Apr 13		16	0.12	swapnilp	mfogelso	High-level reasoning	Navigation	What Should I Do Now? Marrying Reinforcement Learning and Symbolic Planning
40	Apr 15	No class (Spring Carnival)
41	Apr 15	No class (Spring Carnival)
42	Apr 20		17	0.1	swapnilp	qiaog	High-level reasoning	Long-horizon reasoning	A Long Horizon Planning Framework for Manipulating Rigid Pointcloud Objects
43	Apr 20		17	0.1	hcoffin	cbhaumik	High-level reasoning	Long-horizon reasoning	Deep Visual Reasoning: Learning to Predict Action Sequences for Task and Motion Planning from an Initial Scene Image	https://docs.google.com/presentation/d/1looqhulH_J9iq6pLHiclWbWwXv3MxyqLXYI88m_aRbY/edit?usp=sharing
44	Apr 22		18	0.08	weiyezha	yifanzh3	High-level reasoning	Long-horizon reasoning	Hierarchical Planning for Long-Horizon Manipulation with Geometric and Symbolic Scene Graphs
45	Apr 22		18	0.08	mfogelso	devals	High-level reasoning	Long-horizon reasoning	Asymmetric self-play for automatic goal discovery in robotic manipulation
46	Apr 27		19	0.07	yifanzh3	devals	High-level reasoning	Behavioral Priors	Parrot: Data-Driven Behavioral Priors for Reinforcement Learning
47	Apr 27		19	0.07	weiyezha	baeisner	High-level reasoning	Behavioral Priors	Accelerating Reinforcement Learning with Learned Skill Priors
48	Apr 29	Class Summary (no reading; we will be discussing take-away lessons from the course)
49	Apr 29
50	May 4	Final Project Presentations
51	May 4	Final Project Presentations
52	May 6	Final Project Presentations
53	May 6	Final Project Presentations
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