Publications (4)
TiPToP: A Modular Open-Vocabulary Robot Manipulation System That Plans
William Shen, Nishanth Kumar, Sahit Chintalapudi +8
We present TiPToP, a modular manipulation system that integrates pretrained foundation models with a GPU-accelerated Task and Motion Planner to solve tasks directly from RGB images…
Differentiable Tree Operations Promote Compositional Generalization
Paul Soulos, Edward Hu, Kate McCurdy +4
In the context of structure-to-structure transformation tasks, learning sequences of discrete symbolic operations poses significant challenges due to their non-differentiability. T…
RoboArena: Distributed Real-World Evaluation of Generalist Robot Policies
Pranav Atreya, Karl Pertsch, Tony Lee +29
Comprehensive, unbiased, and comparable evaluation of modern generalist policies is uniquely challenging: existing approaches for robot benchmarking typically rely on heavy standar…
GFlowNets and variational inference
Nikolay Malkin, Salem Lahlou, Tristan Deleu +5
This paper builds bridges between two families of probabilistic algorithms: (hierarchical) variational inference (VI), which is typically used to model distributions over continuou…