Publications

Apprenticeship Learning and Reinforcement Learning with Application to Robotic Control,
Pieter Abbeel
Ph.D. Dissertation, Stanford University, Computer Science, August 2008
pdf

[ALL | Deep RL | Learning-to-Learn | Apprentice | Sim2Real | Unsupervised | Optimization-based Planning | Belief Space Planning | Hierarchical Planning | Perception | Deformable Objects | Medical Robotics | Helicopter | Connectomics ]
Pre-prints

One-Shot Hierarchical Imitation Learning of Compound Visuomotor Tasks,
Tianhe Yu, Pieter Abbeel, Sergey Levine, Chelsea Finn.
arXiv 1810.11043

A Connection between Generative Adversarial Networks, Inverse Reinforcement Learning, and Energy-Based Models,
Chelsea Finn, Paul Christiano, Pieter Abbeel, Sergey Levine.
arXiv 1611.03852

Publications

bibtex

[207] Preference Implicit in the State of the World,
Rohin Shah*, Dmitrii Krasheninnikov*, Jordan Alexander*, Pieter Abbeel, Anca Dragan
In the proceedings of the 7th International Conference on Learning Representations (ICLR), New Orleans, USA, May 2019.
arXiv 1902.04198 (code)

[206] Guiding Policies with Language via Meta-Learning,
John D. Co-Reyes, Abhishek Gupta, Suvansh Sanjeev, Nick Altieri, John DeNero, Pieter Abbeel, Sergey Levine.
In the proceedings of the 7th International Conference on Learning Representations (ICLR), New Orleans, USA, May 2019.
arXiv 1811.07882

[204] Variational Discriminator Bottleneck: Improving Imitation Learning, Inverse RL, and GANs by Constraining Information Flow,
Xue Bin Peng, Angjoo Kanazawa, Sam Toyer, Pieter Abbeel, Sergey Levine.
In the proceedings of the 7th International Conference on Learning Representations (ICLR), New Orleans, USA, May 2019.
arXiv 1810.00821

[203] Learning to Adapt: Meta-Learning for Model-Based Control,
Ignasi Clavera, Anusha Nagabandi, Ronald S. Fearing, Pieter Abbeel, Sergey Levine, Chelsea Finn.
In the proceedings of the 7th International Conference on Learning Representations (ICLR), New Orleans, USA, May 2019.
arXiv 1803.11347, videos

[202] SFV: Reinforcement Learning of Physical Skills from Videos,
Xue Bin Peng, Angjoo Kanazawa, Jitendra Malik, Pieter Abbeel, Sergey Levine.
In the proceedings of SIGGRAPH ASIA, Tokyo, Japan, December 2018.
arXiv 1810.03599

[197] An Algorithmic Perspective on Imitation Learning,
Takayuki Osa, Joni Pajarinen, Gerhard Neumann, J. Andrew Bagnell, Pieter Abbeel, Jan Peters.
In Foundations and Trends in Robotics, November 2018.
arXiv 1811.06711

[193] Establishing Appropriate Trust via Critical States,
Sandy H. Huang, Kush Bhatia, Pieter Abbeel, Anca D. Dragan.
In the proceedings of the IEEE/RSJ International Conference on Intelligent RObots and Systems (IROS), Madrid, Spain, October 2018.
arXiv 1810.08174

[191] DeepMimic: Example-Guided Deep Reinforcement Learning of Physics-Based Character Skills,
Xue Bin Peng, Pieter Abbeel, Sergey Levine, Michiel van de Panne.
In the proceedings of SIGGRAPH, Vancouver, Canada, August 2018.
arXiv 1804.02717

[184] One-Shot Imitation from Observing Humans via Domain-Adaptive Meta-Learning,
Tianhe Yu*, Chelsea Finn*, Annie Xie, Sudeep Dasari, Tianhao Zhang, Pieter Abbeel, Sergey Levine.
In the proceedings of Robotics: Science and Systems (RSS), Pittsburgh, PA, USA, June 2018.
arXiv 1802.01557, video

[181] Learning Generalized Reactive Policies using Deep Neural Networks,
Edward Groshev, Aviv Tamar, Siddharth Srivastava, Pieter Abbeel.
In the proceedings of the 28th International Conference on Automated Planning and Scheduling (ICAPS), Delft, The Netherlands, June 2018 (arXiv 1708.07280)

[171] Deep Imitation Learning for Complex Manipulation Tasks from Virtual Reality Teleoperation,
Tianhao Zhang, Zoe McCarthy, Owen Jow, Dennis Lee, Xi (Peter) Chen, Ken Goldberg, Pieter Abbeel.
In the proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Brisbane, Australia, May 2018. (arXiv 1710.04615, videos)

[168] Deep Object-Centric Representations for Generalizable Robot Learning,
Coline Devin, Pieter Abbeel, Trevor Darrell, Sergey Levine.
In the proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Brisbane, Australia, May 2018. (arXiv 1708.04225)

[167] Imitation from Observation: Learning to Imitate Behaviors from Raw Video via Context Translation,
YuXuan (Andrew) Liu*, Abhishek Gupta*, Pieter Abbeel, Sergey Levine.
In the proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Brisbane, Australia, May 2018. (arXiv 1707.03374)

[165] Inverse Reward Design,
Dylan Hadfield-Menell et al.
In Neural Information Processing Systems (NIPS), Long Beach, CA, December 2017. (arXiv 1711.02827)

[162] One-Shot Imitation Learning,
Yan (Rocky) Duan, Marcin Andrychowicz, Bradly Stadie, Jonathan Ho, Jonas Schneider, Ilya Sutskever, Pieter Abbeel, Wojciech Zaremba.
In Neural Information Processing Systems (NIPS), Long Beach, CA, December 2017. (arXiv 1703.07326, videos)

[160] One-Shot Visual Imitation Learning via Meta-Learning,
Chelsea Finn*, Tianhe (Kevin) Yu*, Tianhao Zhang, Pieter Abbeel, Sergey Levine.
In the proceedings of the 1st Annual Conference on Robot Learning (CoRL), Mountain View, CA, November 2017. (arXiv 1709.04905, videos)

[159] Mutual Alignment Transfer Learning,
Markus Wulfmeier, Ingmar Posner, Pieter Abbeel.
In the proceedings of the 1st Annual Conference on Robot Learning (CoRL), Mountain View, CA, November 2017. (arXiv 1707.07907)

[148] Third Person Imitation Learning,
Bradly Stadie, Pieter Abbeel, Ilya Sutskever.
In the proceedings of the International Conference on Learning Representations (ICLR), Toulon, France, April 2017. arXiv 1703.01703

[146] Learning Invariant Feature Spaces to Transfer Skills with Reinforcement Learning,
Abhishek Gupta*, Coline Devin*, YuXuan (Andrew) Liu, Pieter Abbeel, Sergey Levine.
In the proceedings of the International Conference on Learning Representations (ICLR), Toulon, France, April 2017. (arXiv 1703.02949)

[133] Cooperative Inverse Reinforcement Learning,
Dylan Hadfield-Menell, Anca Dragan, Pieter Abbeel, Stuart Russell.
In Neural Information Processing Systems (NIPS), Barcelona, Spain, December 2016. (arXiv 1606.03137)

[125] Learning Dexterous Manipulation for a Soft Robotic Hand from Human Demonstration,
Abhishek Gupta, Clemens Eppner, Sergey Levine, Pieter Abbeel.
In the proceedings of the 29th IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Daejeon, Korea, October 2016. (pdf, arXiv 1603.06348, video)

[108] Leveraging Appearance Priors in Non-Rigid Registration, with Applications to Manipulation of Deformable Objects,
Sandy Huang, Jia Pan, George Mulcaire, Pieter Abbeel.
In the proceedings of the 28th IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Hamburg, Germany, September 2015. (pdf)

[107] Learning from Multiple Demonstrations using Trajectory-Aware Non-Rigid Registration with Applications to Deformable Object Manipulation,
Alex Lee, Abhishek Gupta, Henry Lu, Sergey Levine, Pieter Abbeel,
In the proceedings of the 28th IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Hamburg, Germany, September 2015. (pdf)

[93] Beyond Lowest-Warping Cost Action Selection in Trajectory Transfer,
Dylan Hadfield-Menell, Alex Lee, Chelsea Finn, Eric Tzeng, Sandy Huang, Pieter Abbeel.
In the proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2015. (pdf)

[92] Learning Force-Based Manipulation of Deformable Objects from Multiple Demonstrations,
Alex Lee, Henry Lu, Abhishek Gupta, Sergey Levine, Pieter Abbeel.
In the proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2015. (pdf)

[87] A Non-Rigid Point and Normal Registration Algorithm with Applications to Learning from Demonstrations,
Alex Lee, Max Goldstein, Shane Barratt, Pieter Abbeel.
In the proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2015. (pdf)

[85] Learning by Observation for Surgical Subtasks: Multilateral Cutting of 3D Viscoelastic and 2D Orthotropic Tissue Phantoms, Best Medical Robotics Paper Finalist,
Adithyavairavan Murali, Siddarth Sen, Ben Kehoe, Animesh Garg, Seth McFarland, Sachin Patil, Walter Douglas Boyd, Susan Lim, Pieter Abbeel, Ken Goldberg.
In the proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2015. (pdf)

[77] Unifying Scene Registration and Trajectory Optimization for Learning from Demonstrations with Application to Manipulation of Deformable Objects,
Alex X. Lee, Sandy H. Huang, Dylan Hadfield-Menell, Eric Tzeng, Pieter Abbeel.
In the proceedings of the 27th IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Chicago, USA, September 2014. (pdf)

[64] Learning from Demonstrations through the Use of Non-Rigid Registration,
John Schulman, Jonathan Ho, Cameron Lee, Pieter Abbeel.
In the proceedings of the 16th International Symposium on Robotics Research (ISRR), Dec 2013. (pdf)

[63] A Case Study of Trajectory Transfer through Non-Rigid Registration for a Simplified Suturing Scenario,
John Schulman, Ankush Gupta, Sibi Venkatesan, Mallory Tayson-Frederick, Pieter Abbeel.
In the proceedings of the 26th IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Nov 2013. (pdf, talk video, supplementary materials)

[46] A Robot Path Planning Framework that Learns from Experience,
Dmitry Berenson, Pieter Abbeel, Ken Goldberg.
In the proceedings of the International Conference on Robotics and Automation (ICRA), 2012. (pdf)

[29] Learning Parameterized Maneuvers for Autonomous Helicopter Flight,
Jie Tang, Arjun Singh, Nimbus Goehausen and Pieter Abbeel.
In the proceedings of the International Conference on Robotics and Automation (ICRA), 2010. (pdf)

[28] Superhuman Performance of Surgical Tasks by Robots using Iterative Learning from Human-Guided Demonstrations, Best Medical Robotics Paper Award,
Jur van den Berg, Stephen Miller, Daniel Duckworth, Humphrey Hu, Andrew Wan, Xiao-Yu Fu, Ken Goldberg and Pieter Abbeel.
In the proceedings of the International Conference on Robotics and Automation (ICRA), 2010. (pdf)

[26] Autonomous Helicopter Aerobatics through Apprenticeship Learning,
Pieter Abbeel, Adam Coates and Andrew Y. Ng.
In the International Journal of Robotics Research (IJRR), Volume 29 Issue 13 November 2010. (pdf, videos)

[23i] Apprenticeship learning for helicopter control,
Adam Coates, Pieter Abbeel and Andrew Y. Ng.
In Communications of the ACM , July 2009. (ACM)

[20] Apprenticeship Learning for Motion Planning with Application to Parking Lot Navigation,
Pieter Abbeel, Dmitri Dolgov, Andrew Y. Ng and Sebastian Thrun.
In Proceedings of the International Conference on Intellegent RObots and Systems (IROS), 2008. (pdf)

[19] Autonomous Autorotation of an RC Helicopter, IFRR Student Fellowship Award,
Pieter Abbeel, Adam Coates, Timothy Hunter and Andrew Y. Ng.
In 11th International Symposium on Experimental Robotics (ISER) , 2008. (pdf, supplementary material)

[18] Learning for Control from Multiple Demonstrations, Best Paper Award: Best Application Paper,
Adam Coates, Pieter Abbeel and Andrew Y. Ng.
In Proceedings of ICML, 2008. (ps, pdf, supplementary material)

[17] Hierarchical Apprenticeship Learning with Application to Quadruped Locomotion,
J. Zico Kolter, Pieter Abbeel and Andrew Y. Ng.
In NIPS 20, 2008. (ps, pdf)

[7] Exploration and Apprenticeship Learning in Reinforcement Learning,
Pieter Abbeel and Andrew Y. Ng.
In Proceedings of ICML, 2005. (ps, pdf, long version: ps, pdf)

[3] Apprenticeship Learning via Inverse Reinforcement Learning,
Pieter Abbeel and Andrew Y. Ng.
In Proceedings of ICML, 2004. (ps, pdf, supplement: ps , pdf, supplementary webpage here)