1k citations · 4.2k across the 34 of their papers we have counts for
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Generalization in Dexterous Manipulation via Geometry-Aware Multi-Task Learning
Wenlong Huang, Igor Mordatch, Pieter Abbeel +1
Dexterous manipulation of arbitrary objects, a fundamental daily task for humans, has been a grand challenge for autonomous robotic systems. Although data-driven approaches using r…
Implicit Behavioral Cloning
Pete Florence, Corey Lynch, Andy Zeng +7
We find that across a wide range of robot policy learning scenarios, treating supervised policy learning with an implicit model generally performs better, on average, than commonly…
Decision Transformer: Reinforcement Learning via Sequence Modeling
Lili Chen, Kevin Lu, Aravind Rajeswaran +6
We introduce a framework that abstracts Reinforcement Learning (RL) as a sequence modeling problem. This allows us to draw upon the simplicity and scalability of the Transformer ar…
Model-Based Reinforcement Learning via Latent-Space Collocation
Oleh Rybkin, Chuning Zhu, Anusha Nagabandi +3
The ability to plan into the future while utilizing only raw high-dimensional observations, such as images, can provide autonomous agents with broad capabilities. Visual model-base…
Pretrained Transformers as Universal Computation Engines
Kevin Lu, Aditya Grover, Pieter Abbeel +1
We investigate the capability of a transformer pretrained on natural language to generalize to other modalities with minimal finetuning -- in particular, without finetuning of the…