Alex X. Lee

 

Contact:

alexleegk [at] gmail [dot] com

 

Visual Dynamics Models for Robotic Planning and Control,
Alex X. Lee
Ph.D. Dissertation, University of California at Berkeley, Computer Science, August 2019.
pdf

Pre-prints

Stochastic Latent Actor-Critic: Deep Reinforcement Learning with a Latent Variable Model,
Alex X. Lee, Anusha Nagabandi, Pieter Abbeel, Sergey Levine.
arXiv preprint arXiv:1907.00953, 2019.
(pdf, website, code)

Visual Foresight: Model-Based Deep Reinforcement Learning for Vision-Based Robotic Control,
Frederik Ebert*, Chelsea Finn*, Sudeep Dasari, Annie Xie, Alex X. Lee, Sergey Levine.
arXiv preprint arXiv:1812.00568, 2018.
(pdf, website, code)

Stochastic Adversarial Video Prediction,
Alex X. Lee, Richard Zhang, Frederik Ebert, Pieter Abbeel, Chelsea Finn, Sergey Levine.
arXiv preprint arXiv:1804.01523, 2018.
(pdf, website, code)

Publications

bibtex

[13] Robustness via Retrying: Closed-Loop Robotic Manipulation with Self-Supervised Learning,
Frederik Ebert, Sudeep Dasari, Alex X. Lee, Sergey Levine, Chelsea Finn.
In the proceedings of the 2nd Conference on Robot Learning (CoRL), Zurich, Switzerland, October 2018.
(pdf, website)

[12] Self-Supervised Visual Planning with Temporal Skip Connections,
Frederik Ebert, Chelsea Finn, Alex X. Lee, Sergey Levine.
In the proceedings of the 1st Annual Conference on Robot Learning (CoRL), Mountain View, CA, November 2017.
(pdf, website, code, data)

[11] Learning Visual Servoing with Deep Features and Fitted Q-Iteration,
Alex X. Lee, Sergey Levine, Pieter Abbeel.
In the proceedings of the International Conference on Learning Representations (ICLR), Toulon, France, April 2017.
(pdf, code, servoing benchmark code, website, GTC 2017 slides, with notes, GTC 2017 talk)

[10] Learning from Multiple Demonstrations using Trajectory-Aware Non-Rigid Registration with Applications to Deformable Object Manipulation,
Alex X. 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, videos)

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

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

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

[6] 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 theĀ 27th IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2014.
(pdf, presentation slides, interactive presentation slide, code)

[5] Motion Planning with Sequential Convex Optimization and Convex Collision Checking,
John Schulman, Yan Duan, Jonathan Ho, Alex X. Lee, Ibrahim Awwal, Henry Bradlow, Jia Pan, Sachin Patil, Ken Goldberg, Pieter Abbeel.
In the International Journal of Robotics Research (IJRR), 2014.
(pdf)

[4] Autonomous Multilateral Debridement with the Raven Surgical Robot,
Ben Kehoe, Gregory Kahn, Jeffrey Mahler, Jonathan Kim, Alex X. Lee, Anna Lee, Keisuke Nakagawa, Sachin Patil, W. Douglas Boyd, Pieter Abbeel, Ken Goldberg.
In the proceedings of the International Conference on Robotics and Automation (ICRA), 2014.
(pdf, videos)

[3] Sigma Hulls for Gaussian Belief Space Planning for Imprecise Articulated Robots amid Obstacles,
Alex X. Lee, Yan Duan, Sachin Patil, John Schulman, Zoe McCarthy, Jur van den Berg, Ken Goldberg and Pieter Abbeel.
In the proceedings of the 26th IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2013.
(pdf, talk video, slides)

[2] Finding Locally Optimal, Collision-Free Trajectories with Sequential Convex Optimization,
John Schulman, Jonathan Ho, Alex X. Lee, Ibrahim Awwal, Henry Bradlow and Pieter Abbeel.
In the proceedings of Robotics: Science and Systems (RSS), 2013.
(pdf, videos, code)

[1] Tracking Deformable Objects with Point Clouds,
Best Vision Paper Award,
John Schulman, Alex X. Lee, Jonathan Ho and Pieter Abbeel.
In the proceedings of the International Conference on Robotics and Automation (ICRA), 2013.
(pdf, videos)