221 citations · 621 across the 9 of their papers we have counts for
8 papers · 1 filter
droidlet: modular, heterogenous, multi-modal agents
Anurag Pratik, Soumith Chintala, Kavya Srinet +10
In recent years, there have been significant advances in building end-to-end Machine Learning (ML) systems that learn at scale. But most of these systems are: (a) isolated (percept…
Visual Imitation Made Easy
Sarah Young, Dhiraj Gandhi, Shubham Tulsiani +3
Visual imitation learning provides a framework for learning complex manipulation behaviors by leveraging human demonstrations. However, current interfaces for imitation such as kin…
Swoosh! Rattle! Thump! -- Actions that Sound
Dhiraj Gandhi, Abhinav Gupta, Lerrel Pinto
Truly intelligent agents need to capture the interplay of all their senses to build a rich physical understanding of their world. In robotics, we have seen tremendous progress in u…
PyRobot: An Open-source Robotics Framework for Research and Benchmarking
Adithyavairavan Murali, Tao Chen, Kalyan Vasudev Alwala +4
This paper introduces PyRobot, an open-source robotics framework for research and benchmarking. PyRobot is a light-weight, high-level interface on top of ROS that provides a consis…
Robot Learning in Homes: Improving Generalization and Reducing Dataset Bias
Abhinav Gupta, Adithyavairavan Murali, Dhiraj Gandhi +1
Data-driven approaches to solving robotic tasks have gained a lot of traction in recent years. However, most existing policies are trained on large-scale datasets collected in cura…
Learning to Grasp Without Seeing
Adithyavairavan Murali, Yin Li, Dhiraj Gandhi +1
Can a robot grasp an unknown object without seeing it? In this paper, we present a tactile-sensing based approach to this challenging problem of grasping novel objects without prio…
CASSL: Curriculum Accelerated Self-Supervised Learning
Adithyavairavan Murali, Lerrel Pinto, Dhiraj Gandhi +1
Recent self-supervised learning approaches focus on using a few thousand data points to learn policies for high-level, low-dimensional action spaces. However, scaling this framewor…
Learning to Fly by Crashing
Dhiraj Gandhi, Lerrel Pinto, Abhinav Gupta
How do you learn to navigate an Unmanned Aerial Vehicle (UAV) and avoid obstacles? One approach is to use a small dataset collected by human experts: however, high capacity learnin…