18 citations · 108 across the 24 of their papers we have counts for
5 papers · 1 filter
Linear Transformer Topological Masking with Graph Random Features
Isaac Reid, Kumar Avinava Dubey, Deepali Jain +12
When training transformers on graph-structured data, incorporating information about the underlying topology is crucial for good performance. Topological masking, a type of relativ…
Achieving Human Level Competitive Robot Table Tennis
David B. D'Ambrosio, Saminda Abeyruwan, Laura Graesser +24
Achieving human-level speed and performance on real world tasks is a north star for the robotics research community. This work takes a step towards that goal and presents the first…
Modeling the Real World with High-Density Visual Particle Dynamics
William F. Whitney, Jacob Varley, Deepali Jain +3
We present High-Density Visual Particle Dynamics (HD-VPD), a learned world model that can emulate the physical dynamics of real scenes by processing massive latent point clouds con…
Structured Unrestricted-Rank Matrices for Parameter Efficient Fine-tuning
Arijit Sehanobish, Avinava Dubey, Krzysztof Choromanski +4
Recent efforts to scale Transformer models have demonstrated rapid progress across a wide range of tasks (Wei et al., 2022). However, fine-tuning these models for downstream tasks…
Embodied AI with Two Arms: Zero-shot Learning, Safety and Modularity
Jake Varley, Sumeet Singh, Deepali Jain +5
We present an embodied AI system which receives open-ended natural language instructions from a human, and controls two arms to collaboratively accomplish potentially long-horizon…