173 citations · 249 across the 9 of their papers we have counts for
10 papers · 1 filter
Interactive Language: Talking to Robots in Real Time
Corey Lynch, Ayzaan Wahid, Jonathan Tompson +5
We present a framework for building interactive, real-time, natural language-instructable robots in the real world, and we open source related assets (dataset, environment, benchma…
VIRDO++: Real-World, Visuo-tactile Dynamics and Perception of Deformable Objects
Youngsun Wi, Andy Zeng, Pete Florence +1
Deformable objects manipulation can benefit from representations that seamlessly integrate vision and touch while handling occlusions. In this work, we present a novel approach for…
NeRF-Supervision: Learning Dense Object Descriptors from Neural Radiance Fields
Lin Yen-Chen, Pete Florence, Jonathan T. Barron +3
Thin, reflective objects such as forks and whisks are common in our daily lives, but they are particularly challenging for robot perception because it is hard to reconstruct them u…
Implicit Kinematic Policies: Unifying Joint and Cartesian Action Spaces in End-to-End Robot Learning
Aditya Ganapathi, Pete Florence, Jake Varley +3
Action representation is an important yet often overlooked aspect in end-to-end robot learning with deep networks. Choosing one action space over another (e.g. target joint positio…
Implicit Behavioral Cloning
Pete Florence, Corey Lynch, Andy Zeng +7
We find that across a wide range of robot policy learning scenarios, treating supervised policy learning with an implicit model generally performs better, on average, than commonly…
Keypoints into the Future: Self-Supervised Correspondence in Model-Based Reinforcement Learning
Lucas Manuelli, Yunzhu Li, Pete Florence +1
Predictive models have been at the core of many robotic systems, from quadrotors to walking robots. However, it has been challenging to develop and apply such models to practical r…