18 citations · 108 across the 24 of their papers we have counts for
6 papers · 1 filter
SARA-RT: Scaling up Robotics Transformers with Self-Adaptive Robust Attention
Isabel Leal, Krzysztof Choromanski, Deepali Jain +11
We present Self-Adaptive Robust Attention for Robotics Transformers (SARA-RT): a new paradigm for addressing the emerging challenge of scaling up Robotics Transformers (RT) for on-…
Robotic Table Tennis: A Case Study into a High Speed Learning System
David B. D'Ambrosio, Jonathan Abelian, Saminda Abeyruwan +32
We present a deep-dive into a real-world robotic learning system that, in previous work, was shown to be capable of hundreds of table tennis rallies with a human and has the abilit…
Agile Catching with Whole-Body MPC and Blackbox Policy Learning
Saminda Abeyruwan, Alex Bewley, Nicholas M. Boffi +9
We address a benchmark task in agile robotics: catching objects thrown at high-speed. This is a challenging task that involves tracking, intercepting, and cradling a thrown object…
Barkour: Benchmarking Animal-level Agility with Quadruped Robots
Ken Caluwaerts, Atil Iscen, J. Chase Kew +41
Animals have evolved various agile locomotion strategies, such as sprinting, leaping, and jumping. There is a growing interest in developing legged robots that move like their biol…
Mnemosyne: Learning to Train Transformers with Transformers
Deepali Jain, Krzysztof Marcin Choromanski, Avinava Dubey +4
In this work, we propose a new class of learnable optimizers, called \textit{Mnemosyne}. It is based on the novel spatio-temporal low-rank implicit attention Transformers that can…
Efficient Graph Field Integrators Meet Point Clouds
Krzysztof Choromanski, Arijit Sehanobish, Han Lin +13
We present two new classes of algorithms for efficient field integration on graphs encoding point clouds. The first class, SeparatorFactorization(SF), leverages the bounded genus o…