251 citations · 478 across the 17 of their papers we have counts for
5 papers · 1 filter
Bidirectional Decoding: Improving Action Chunking via Guided Test-Time Sampling
Yuejiang Liu, Jubayer Ibn Hamid, Annie Xie +3
Predicting and executing a sequence of actions without intermediate replanning, known as action chunking, is increasingly used in robot learning from human demonstrations. Yet, its…
Affordance-Guided Reinforcement Learning via Visual Prompting
Olivia Y. Lee, Annie Xie, Kuan Fang +2
Robots equipped with reinforcement learning (RL) have the potential to learn a wide range of skills solely from a reward signal. However, obtaining a robust and dense reward signal…
DROID: A Large-Scale In-The-Wild Robot Manipulation Dataset
Alexander Khazatsky, Karl Pertsch, Suraj Nair +98
The creation of large, diverse, high-quality robot manipulation datasets is an important stepping stone on the path toward more capable and robust robotic manipulation policies. Ho…
Efficient Data Collection for Robotic Manipulation via Compositional Generalization
Jensen Gao, Annie Xie, Ted Xiao +2
Data collection has become an increasingly important problem in robotic manipulation, yet there still lacks much understanding of how to effectively collect data to facilitate broa…
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…