Publications (7)
Equivariant Diffusion Policy
Dian Wang, Stephen Hart, David Surovik +7
Recent work has shown diffusion models are an effective approach to learning the multimodal distributions arising from demonstration data in behavior cloning. However, a drawback o…
You've Got a Golden Ticket: Improving Generative Robot Policies With A Single Noise Vector
Omkar Patil, Ondrej Biza, Thomas Weng +9
What happens when a pretrained generative robot policy is provided a constant initial noise as input, rather than repeatedly sampling it from a Gaussian? We demonstrate that the pe…
MOTENS: A Pedagogical Design Model for Serious Cyber Games
Stephen Hart, Basel Halak, Vladimiro Sassone
In the last few years, serious games have become popular, with a consensus of the benefits for teaching cyber security awareness and education. However, there is still a lack of pe…
SOLE-R1: Video-Language Reasoning as the Sole Reward for On-Robot Reinforcement Learning
Philip Schroeder, Thomas Weng, Karl Schmeckpeper +3
Vision-language models (VLMs) have shown impressive capabilities across diverse tasks, motivating efforts to leverage these models to supervise robot learning. However, when used a…
When Life Gives You BC, Make Q-functions: Extracting Q-values from Behavior Cloning for On-Robot Reinforcement Learning
Lakshita Dodeja, Ondrej Biza, Shivam Vats +5
Behavior Cloning (BC) has emerged as a highly effective paradigm for robot learning. However, BC lacks a self-guided mechanism for online improvement after demonstrations have been…
ADAMANT: A Pipeline for Adaptable Manipulation Tasks
Ana Huamán Quispe, Stephen Hart, Seth Gee +1
This paper presents ADAMANT, a set of software modules that provides grasp planning capabilities to an existing robot planning and control software framework. Our presented work al…
Deploying the NASA Valkyrie Humanoid for IED Response: An Initial Approach and Evaluation Summary
Steven Jens Jorgensen, Michael W. Lanighan, Sylvain S. Bertrand +19
As part of a feasibility study, this paper shows the NASA Valkyrie humanoid robot performing an end-to-end improvised explosive device (IED) response task. To demonstrate and evalu…