82 citations · 111 across the 17 of their papers we have counts for
8 papers · 2 filters
Design of an All-Purpose Terrace Farming Robot
Vibhakar Mohta, Adarsh Patnaik, Shivam Kumar Panda +6
Automation in farming processes is a growing field of research in both academia and industries. A considerable amount of work has been put into this field to develop systems robust…
Real World Offline Reinforcement Learning with Realistic Data Source
Gaoyue Zhou, Liyiming Ke, Siddhartha Srinivasa +3
Offline reinforcement learning (ORL) holds great promise for robot learning due to its ability to learn from arbitrary pre-generated experience. However, current ORL benchmarks are…
All the Feels: A dexterous hand with large-area tactile sensing
Raunaq Bhirangi, Abigail DeFranco, Jacob Adkins +4
High cost and lack of reliability has precluded the widespread adoption of dexterous hands in robotics. Furthermore, the lack of a viable tactile sensor capable of sensing over the…
Learning Dexterous Manipulation from Exemplar Object Trajectories and Pre-Grasps
Sudeep Dasari, Abhinav Gupta, Vikash Kumar
Learning diverse dexterous manipulation behaviors with assorted objects remains an open grand challenge. While policy learning methods offer a powerful avenue to attack this proble…
Human-to-Robot Imitation in the Wild
Shikhar Bahl, Abhinav Gupta, Deepak Pathak
We approach the problem of learning by watching humans in the wild. While traditional approaches in Imitation and Reinforcement Learning are promising for learning in the real worl…
Can Foundation Models Perform Zero-Shot Task Specification For Robot Manipulation?
Yuchen Cui, Scott Niekum, Abhinav Gupta +2
Task specification is at the core of programming autonomous robots. A low-effort modality for task specification is critical for engagement of non-expert end-users and ultimate ado…
R3M: A Universal Visual Representation for Robot Manipulation
Suraj Nair, Aravind Rajeswaran, Vikash Kumar +2
We study how visual representations pre-trained on diverse human video data can enable data-efficient learning of downstream robotic manipulation tasks. Concretely, we pre-train a…
RB2: Robotic Manipulation Benchmarking with a Twist
Sudeep Dasari, Jianren Wang, Joyce Hong +12
Benchmarks offer a scientific way to compare algorithms using objective performance metrics. Good benchmarks have two features: (a) they should be widely useful for many research g…