Lerrel Pinto

I am a PhD candidate at Carnegie Mellon University advised by Abhinav Gupta. My research focusses on large-scale learning for robots and tries to answer: (a) How do you obtain large and diverse robotic data?, (b) How do you efficiently learn generalizable skills with this data?, and (c) How do you effectively use simulations to accelerate real-world learning.

Email:lerrelp[AT]cs.cmu.edu / Google Scholar


Self-supervised Robot Learning

Speeding up Self-Supervized Learning

Efficient Learning (and transfer) in Simulators

Press Coverage

Learning to Fly

Scaling up self supervised learning

Gizmodo Review SBS Review

Self supervised Grasping

MIT Tech Review Futurism Tech Review Gizmodo Review direct industry Tech Review Tech Xplore Review
Research and Selected Projects

PyRobot: An Open-source Robotics Framework for Research and Benchmarking
Adithya Murali, Tao Chen, Kalyan Vasudev Alwala, Dhiraj Gandhi, Lerrel Pinto, Saurabh Gupta, Abhinav Gupta

arXiv / code / blog


Sample-Efficient Learning of Nonprehensile Manipulation Policies via Physics-Based Informed State Distributions
Lerrel Pinto, Aditya Mandalika, Brian Hou, Siddhartha Srinivasa


Environment Probing Interaction Policies
WenXuan Zhou, Lerrel Pinto, Abhinav Gupta
ICLR 2019
paper / code


Multiple Interactions Made Easy (MIME): Large Scale Demonstrations Data for Imitation
Pratyusha Sharma*, Lekha Mohan*, Lerrel Pinto, Abhinav Gupta
CoRL 2018
arXiv / dataset


Robot Learning in Homes: Improving Generalization and Reducing Dataset Bias
Abhinav Gupta, Adithya Murali, Dhiraj Gandhi, Lerrel Pinto [Equal contribution]
NIPS 2018
arXiv / dataset / models


Asymmetric Actor Critic for Image-Based Robot Learning
Lerrel Pinto, Marcin Andrychowicz, Peter Welinder, Wojciech Zaremba, Pieter Abbeel
RSS 2018
arXiv / Video / Blog


CASSL: Curriculum Accelerated Self-Supervised Learning
Adithyavairavan Murali, Lerrel Pinto, Dhiraj Gandhi, Abhinav Gupta
ICRA 2018
arXiv / Video


Learning to Fly by Crashing
Dhiraj Gandhi, Lerrel Pinto, Abhinav Gupta
IROS 2017
arXiv / Video


Robust Adversarial Reinforcement Learning
Lerrel Pinto, James Davidson, Rahul Sukthankar, Abhinav Gupta
ICML 2017
arXiv / Video


Supervision via Competition: Robot Adversaries for Learning Tasks
Lerrel Pinto, James Davidson and Abhinav Gupta
ICRA 2017
arXiv / Video / Grasp Detection Code


Learning to Push by Grasping: Using multiple tasks for effective learning
Lerrel Pinto and Abhinav Gupta
ICRA 2017
arXiv / Video

The Curious Robot: Learning Visual Representations via Physical Interactions
Lerrel Pinto, Dhiraj Gandhi, Yuanfeng Han, Yong-Lae Park and Abhinav Gupta
Spotlight Presentation at ECCV 2016


Supersizing Self-supervision: Learning to Grasp from 50K Tries and 700 Robot Hours
Lerrel Pinto and Abhinav Gupta
Best Student Paper Award at ICRA 2016
arXiv / raw data / patch dataset

Source stolen from here