163 citations · 420 across the 27 of their papers we have counts for
4 papers · 1 filter
SPRINT: Scalable Policy Pre-Training via Language Instruction Relabeling
Jesse Zhang, Karl Pertsch, Jiahui Zhang +1
Pre-training robot policies with a rich set of skills can substantially accelerate the learning of downstream tasks. Prior works have defined pre-training tasks via natural languag…
FurnitureBench: Reproducible Real-World Benchmark for Long-Horizon Complex Manipulation
Minho Heo, Youngwoon Lee, Doohyun Lee +1
Reinforcement learning (RL), imitation learning (IL), and task and motion planning (TAMP) have demonstrated impressive performance across various robotic manipulation tasks. Howeve…
Hierarchical Neural Program Synthesis
Linghan Zhong, Ryan Lindeborg, Jesse Zhang +2
Program synthesis aims to automatically construct human-readable programs that satisfy given task specifications, such as input/output pairs or demonstrations. Recent works have de…
QMP: Q-switch Mixture of Policies for Multi-Task Behavior Sharing
Grace Zhang, Ayush Jain, Injune Hwang +2
Multi-task reinforcement learning (MTRL) aims to learn several tasks simultaneously for better sample efficiency than learning them separately. Traditional methods achieve this by…