5 citations · 14 across the 4 of their papers we have counts for
4 papers
RT-Affordance: Affordances are Versatile Intermediate Representations for Robot Manipulation
Soroush Nasiriany, Sean Kirmani, Tianli Ding +5
We explore how intermediate policy representations can facilitate generalization by providing guidance on how to perform manipulation tasks. Existing representations such as langua…
RoboCasa: Large-Scale Simulation of Everyday Tasks for Generalist Robots
Soroush Nasiriany, Abhiram Maddukuri, Lance Zhang +5
Recent advancements in Artificial Intelligence (AI) have largely been propelled by scaling. In Robotics, scaling is hindered by the lack of access to massive robot datasets. We adv…
PIVOT: Iterative Visual Prompting Elicits Actionable Knowledge for VLMs
Soroush Nasiriany, Fei Xia, Wenhao Yu +20
Vision language models (VLMs) have shown impressive capabilities across a variety of tasks, from logical reasoning to visual understanding. This opens the door to richer interactio…
MimicGen: A Data Generation System for Scalable Robot Learning using Human Demonstrations
Ajay Mandlekar, Soroush Nasiriany, Bowen Wen +5
Imitation learning from a large set of human demonstrations has proved to be an effective paradigm for building capable robot agents. However, the demonstrations can be extremely c…