5 citations · 10 across the 6 of their papers we have counts for
6 papers
What's the Move? Hybrid Imitation Learning via Salient Points
Priya Sundaresan, Hengyuan Hu, Quan Vuong +2
While imitation learning (IL) offers a promising framework for teaching robots various behaviors, learning complex tasks remains challenging. Existing IL policies struggle to gener…
FLAIR: Feeding via Long-horizon AcquIsition of Realistic dishes
Rajat Kumar Jenamani, Priya Sundaresan, Maram Sakr +2
Robot-assisted feeding has the potential to improve the quality of life for individuals with mobility limitations who are unable to feed themselves independently. However, there ex…
RT-Sketch: Goal-Conditioned Imitation Learning from Hand-Drawn Sketches
Priya Sundaresan, Quan Vuong, Jiayuan Gu +10
Natural language and images are commonly used as goal representations in goal-conditioned imitation learning (IL). However, natural language can be ambiguous and images can be over…
RT-Trajectory: Robotic Task Generalization via Hindsight Trajectory Sketches
Jiayuan Gu, Sean Kirmani, Paul Wohlhart +14
Generalization remains one of the most important desiderata for robust robot learning systems. While recently proposed approaches show promise in generalization to novel objects, s…
Learning Sequential Acquisition Policies for Robot-Assisted Feeding
Priya Sundaresan, Jiajun Wu, Dorsa Sadigh
A robot providing mealtime assistance must perform specialized maneuvers with various utensils in order to pick up and feed a range of food items. Beyond these dexterous low-level…
A Bayesian Treatment of Real-to-Sim for Deformable Object Manipulation
Rika Antonova, Jingyun Yang, Priya Sundaresan +3
Deformable object manipulation remains a challenging task in robotics research. Conventional techniques for parameter inference and state estimation typically rely on a precise def…