16881 - Special Topics: Deep Reinforcement Learning for Robotics, Spring 2020

	A	B	C	D	E	F	G	H	I	AB
1	Day	Date	Paper type	Bonus points	Presenter 1	Presenter 2	Section	Theme	Paper

2	1	Jan 21	Paper 1	3	vdean	vdean	Low-level skills	Bipedal Locomotion	Experiments in Balance with a 3D One-Legged Hopping Machine	0
3	1	Jan 21	Paper 2	3	vdean	vdean	Low-level skills	Bipedal Locomotion	DeepLoco: Dynamic Locomotion Skills Using Hierarchical Deep Reinforcement Learning	0
4	2	Jan 23	Paper 1	2.46	adeka		Low-level skills	Robot Acrobatics	Control of a Biped Somersault in 3D	1
5	2	Jan 23	Paper 2	2.46	hsikchi	vidhij	Low-level skills	Robot Acrobatics	SFV: Reinforcement Learning of Physical Skills from Videos	1
6	3	Jan 28	Paper 1	2.01	adeka	yiheh	Low-level skills	Flight / Aerial Robotics	Beauty and the Beast: Optimal Methods Meet Learning for Drone Racing	2
7	3	Jan 28	Paper 2	2.01	haithanp	yufeiw2	Low-level skills	Flight / Aerial Robotics	Deep Drone Racing: From Simulation to Reality with Domain Randomization	2
8	4	Jan 30	Paper 1	1.65	dkv	hansk	Low-level skills	Drifting	Autonomous Drifting using Simulation-Aided Reinforcement Learning	3
9	4	Jan 30	Paper 2	1.65	dkv	hansk	Low-level skills	Drifting	Information Theoretic MPC for Model-Based Reinforcement Learning	3
10	5	Feb 4	Paper 1	1.35	dkv	hansk	Low-level skills	Drifting	Toward Automated Vehicle Control Beyond the Stability Limits: Drifting Along a General Path	4
11	5	Feb 4	Paper 2	1.35		jivasque	Low-level skills	Drifting	Locally Weighted Regression Pseudo-Rehearsal for Online Learning of Vehicle Dynamics	4
12	6	Feb 6	Paper 1	1.1	giyer	vidhij	Low-level skills	Throwing / Catching	Catching objects in flight	5
13	6	Feb 6	Paper 2	1.1	scottsun	xis	Low-level skills	Throwing / Catching	TossingBot: Learning to Throw Arbitrary Objects	5
14	7	Feb 11	Paper 1	0.9	scottsun	xis	Low-level skills	Grasping	6-DOF GraspNet: Variational Grasp Generation for Object Manipulation	6
15	7	Feb 11	Paper 2	0.9	kgoshvad	tweng	Low-level skills	Grasping	Quantile QT-Opt for Risk-Aware Vision-Based Robotic Grasping	6
16	8	Feb 13	Paper 1	0.74	jielinq	haithanp	Low-level skills	Grasping	Multi-Modal Geometric Learning for Grasping and Manipulation	7
17	8	Feb 13	Paper 2	0.74	yiheh	adeka	Low-level skills	Grasping	MAT - Multi-Fingered Adaptive Tactile Grasping via Deep Reinforcement Learning	7
18	9	Feb 18	Paper 1	0.61	dkv	hansk	Low-level skills	In-hand manipulation	Relaxed-Rigidity Constraints: In-Grasp Manipulation using Purely Kinematic Trajectory Optimization	8
19	9	Feb 18	Paper 2	0.61	adeka	vidhij	Low-level skills	In-hand manipulation	Deep Dynamics Models for Learning Dexterous Manipulation	8
20	10	Feb 20	Paper 1	0.5	jivasque		Low-level skills	In-hand manipulation	Extrinsic Dexterity: In-Hand Manipulation with External Forces	9
21	10	Feb 20	Paper 2	0.5	wenxuanz		Low-level skills	In-hand manipulation	Solving Rubik's Cube with a Robot Hand	9
22	11	Feb 25	Paper 1	0.41	apokle	giyer	Low-level skills	Sim2Real Transfer	Closing the Sim-to-Real Loop: Adapting Simulation Randomization with Real World Experience	10
23	11	Feb 25	Paper 2	0.41	yeehos	wenxuanz	Low-level skills	Sim2Real Transfer	Learning Agile and Dynamic Motor Skills for Legged Robots	10
24	12	Feb 27	Paper 1	0.33	haithanp	jivasque	Low-level skills	Sim2Real Transfer	TuneNet: One-Shot Residual Tuning for System Identification and Sim-to-Real Robot Task Transfer	11
25	12	Feb 27	Paper 2	0.33	wenxuanz	yufeiw2	Low-level skills	Sim2Real Transfer	Learning Locomotion Skills for Cassie: Iterative Design and Sim-to-Real	11
26	13	March 3	Paper 1	0.27	scottsun	xis	Low-level skills	Sim2Real Transfer	Push-Net: Deep Planar Pushing for Objects with Unknown Physical Properties	12
27	13	March 3	Paper 2	0.27	vdean		Low-level skills	Sim2Real Transfer	DensePhysNet: Learning Dense Physical Object Representations via Multi-step Dynamic Interactions	12
28	14	March 5	Paper 1	0.22	tweng	yufeiw2	Low-level skills	Reward functions	Learning Robot Objectives from Physical Human Interaction	13
29	14	March 5	Paper 2	0.22	apokle		Low-level skills	Reward functions	Deep Reinforcement Learning from Human Preferences	13
30		March 10	NO CLASS - Spring break
31		March 12	NO CLASS - Spring break
32		March 17	NO CLASS - all CMU classes cancelled
33		March 19	Paper 1	0.18	yiheh	hsikchi	High-level Reasoning	Autonomous Driving	ChauffeurNet: Learning to Drive by Imitating the Best and Synthesizing the Worst	14
34		March 19	Paper 2	0.18	jielinq	yeehos	High-level Reasoning	Autonomous Driving	Learning by Cheating	14
35		March 24	Paper 1	0.15	wenxuanz	vidhij	High-level Reasoning	Navigation	Learning over Subgoals for Efficient Navigation of Structured, Unknown Environments	15
36		March 24	Paper 2	0.15	haithanp		High-level Reasoning	Navigation	Visual Semantic Planning using Deep Successor Representations	15
37		March 26	Paper 1	0.12	tweng	apokle	High-level Reasoning	Navigation	Efficient Trajectory Planning for High Speed Flight in Unknown Environments	16
38		March 26	Paper 2	0.12	yiheh	giyer	High-level Reasoning	Navigation	Visual Semantic Navigation using Scene Priors	16
39		March 31	Paper 1	0.1	hsikchi		High-level Reasoning	Safety	Safe Exploration for Interactive Machine Learning	17
40		March 31	Paper 2	0.1	hsikchi	kgoshvad	High-level Reasoning	Safety	Safe Exploration in Continuous Action Spaces	17
41		April 2	Paper 1	0.08	jielinq	yeehos	High-level Reasoning	Multi-object Manipulation	Neural Task Graphs: Generalizing to Unseen Tasks from a Single Video Demonstration	18
42		April 2	Paper 2	0.08	xis	scottsun	High-level Reasoning	Multi-object Manipulation	Learning to Manipulate Object Collections Using Grounded State Representations	18
43		Friday April 3, 10 to 11:20 AM	Paper 1	0.07	htung	kgoshvad	High-level Reasoning	Tool Use	KETO: Learning Keypoint Representations for Tool Manipulation	19
44		Friday April 3, 10 to 11:20 AM	Paper 2	0.07	tweng	jielinq	High-level Reasoning	Tool Use	Improvisation through Physical Understanding: Using Novel Objects as Tools with Visual Foresight	19
45		April 7	Paper 1	0.05		yufeiw2	High-level Reasoning	Long-horizon tasks / Reasoning / Planning	Dream to Control: Learning Behaviors by Latent Imagination	20
46		April 7	Paper 2	0.05	htung	giyer	High-level Reasoning	Long-horizon tasks / Reasoning / Planning	Relay Policy Learning: Solving Long-Horizon Tasks via Imitation and Reinforcement Learning	20
47		April 9	NO CLASS - Rescheduled for April 3
48		April 14	Guest Lecture - Professor Changliu Liu
49		April 16	Paper 1	0.04	kgoshvad	yeehos	High-level Reasoning	Long-horizon tasks / Reasoning / Planning	Differentiable Physics and Stable Modes for Tool-Use and Manipulation Planning	21
50		April 16	Paper 2	0.04	apokle	jivasque	High-level Reasoning	Long-horizon tasks / Reasoning / Planning	Learning Robotic Manipulation through Visual Planning and Acting	21
51		April 21	Guest Lecture - Chris Atkeson
52		April 23	Class Summary (no reading but we will be discussing take-away lessons from the course)
53		April 28	Final Project Presentations
54		April 30	Final Project Presentations
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