publications
For an up-to-date list, please see my Google Scholar.
2024
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Green Screen Augmentation Enables Scene Generalisation in Robotic ManipulationarXiv preprint arXiv:2407.07868, 2024 -
BiGym: A Demo-Driven Mobile Bi-Manual Manipulation BenchmarkarXiv preprint arXiv:2407.07788, 2024 -
Continuous Control with Coarse-to-fine Reinforcement LearningarXiv preprint arXiv:2407.07787, 2024 -
Render and Diffuse: Aligning Image and Action Spaces for Diffusion-based Behaviour CloningRobotics: Science and Systems, 2024 -
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Hierarchical Diffusion Policy for Kinematics-Aware Multi-Task Robotic ManipulationConference on Computer Vision and Pattern Recognition, 2024
2023
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Speed Co-Augmentation for Unsupervised Audio-Visual Pre-trainingarXiv preprint arXiv:2309.13942, 2023 -
Multi-view masked world models for visual robotic manipulationInternational Conference on Machine Learning, 2023 -
Language reward modulation for pretraining reinforcement learningarXiv preprint arXiv:2308.12270, 2023 -
Temporally consistent transformers for video generationInternational Conference on Machine Learning, 2023 -
Stereopose: Category-level 6d transparent object pose estimation from stereo images via back-view nocsIEEE International Conference on Robotics and Automation, 2023
2022
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Sim-to-Real via Sim-to-Seg: End-to-end Off-road Autonomous Driving Without Real DataConference on Robot Learning, 2022 -
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Reinforcement learning with action-free pre-training from videosInternational Conference on Machine Learning, 2022 -
Patch-based Object-centric Transformers for Efficient Video GenerationarXiv preprint arXiv:2206.04003, 2022 -
Auto-Lambda: Disentangling Dynamic Task RelationshipsTransactions on Machine Learning Research, 2022 -
On the Effectiveness of Fine-tuning Versus Meta-reinforcement LearningConference on Neural Information Processing Systems, 2022 -
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ReorientBot: Learning Object Reorientation for Specific-Posed PlacementIEEE International Conference on Robotics and Automation, 2022 -
SafePicking: Learning safe object extraction via object-level mappingIEEE International Conference on Robotics and Automation, 2022 -
Sim-to-Real 6D Object Pose Estimation via Iterative Self-training for Robotic Bin-pickingEuropean Conference on Computer Vision, 2022 -
HARP: Autoregressive Latent Video Prediction with High-Fidelity Image GeneratorIEEE International Conference on Image Processing, 2022 -
Bingham Policy Parameterization for 3D Rotations in Reinforcement LearningarXiv preprint arXiv:2202.03957, 2022 -
Coarse-to-Fine Q-attention: Efficient Learning for Visual Robotic Manipulation via DiscretisationConference on Computer Vision and Pattern Recognition, 2022 -
Q-attention: Enabling Efficient Learning for Vision-based Robotic ManipulationIEEE Robotics and Automation Letters, 2022
2021
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SIMstack: A Generative Shape and Instance Model for Unordered Object StacksIEEE International Conference on Computer Vision, 2021 -
2020
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MoreFusion: Multi-object Reasoning for 6D Pose Estimation from Volumetric FusionConference on Computer Vision and Pattern Recognition, 2020 -
RLBench: The Robot Learning Benchmark & Learning EnvironmentIEEE Robotics and Automation Letters, 2020 -
Learning One-Shot Imitation from Humans without HumansIEEE Robotics and Automation Letters, 2020
2019
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Sim-to-Real via Sim-to-Sim: Data-efficient Robotic Grasping via Randomized-to-Canonical Adaptation NetworksConference on Computer Vision and Pattern Recognition, 2019
2018
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Task-Embedded Control Networks for Few-Shot Imitation LearningConference on Robot Learning, 2018 -
Sim-to-Real Reinforcement Learning for Deformable Object ManipulationConference on Robot Learning, 2018
2017
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Transferring End-to-End Visuomotor Control from Simulation to Real World for a Multi-Stage TaskConference on Robot Learning, 2017
2016
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3D Simulation for Robot Arm Control with Deep Q-LearningNeurIPS 2016 Workshop (Deep Learning for Action and Interaction), 2016
