4 papers
Scalable Behavior Cloning with Open Data, Training, and Evaluation
Arthur Allshire, Himanshu Gaurav Singh, Ritvik Singh +15
We introduce ABC, a fully open-source stack for manipulation with behavior cloning. At its core is ABC-130K: the largest open-source teleoperation dataset to date, featuring 3,500…
WARP-RM: A Warp-Augmented Relative Progress Reward Model for Data Curation
Justin Yu, Andrew Goldberg, Kavish Kondap +7
Scaling imitation learning requires large datasets, yet human teleoperation inevitably produces mixed-quality demonstrations containing hesitations, retries, and pauses. Prior fram…
SARM: Stage-Aware Reward Modeling for Long Horizon Robot Manipulation
Qianzhong Chen, Justin Yu, Mac Schwager +3
Large-scale robot learning has made progress on complex manipulation tasks, yet long horizon, contact rich problems, especially those involving deformable objects, remain challengi…
Probabilistically Safe Policy Transfer
David Held, Zoe McCarthy, Michael Zhang +2
Although learning-based methods have great potential for robotics, one concern is that a robot that updates its parameters might cause large amounts of damage before it learns the…