82 citations · 111 across the 17 of their papers we have counts for
6 papers · 2 filters
Towards Generalizable Zero-Shot Manipulation via Translating Human Interaction Plans
Homanga Bharadhwaj, Abhinav Gupta, Vikash Kumar +1
We pursue the goal of developing robots that can interact zero-shot with generic unseen objects via a diverse repertoire of manipulation skills and show how passive human videos ca…
RoboAgent: Generalization and Efficiency in Robot Manipulation via Semantic Augmentations and Action Chunking
Homanga Bharadhwaj, Jay Vakil, Mohit Sharma +3
The grand aim of having a single robot that can manipulate arbitrary objects in diverse settings is at odds with the paucity of robotics datasets. Acquiring and growing such datase…
Train Offline, Test Online: A Real Robot Learning Benchmark
Gaoyue Zhou, Victoria Dean, Mohan Kumar Srirama +9
Three challenges limit the progress of robot learning research: robots are expensive (few labs can participate), everyone uses different robots (findings do not generalize across l…
Visual Affordance Prediction for Guiding Robot Exploration
Homanga Bharadhwaj, Abhinav Gupta, Shubham Tulsiani
Motivated by the intuitive understanding humans have about the space of possible interactions, and the ease with which they can generalize this understanding to previously unseen s…
Manipulate by Seeing: Creating Manipulation Controllers from Pre-Trained Representations
Jianren Wang, Sudeep Dasari, Mohan Kumar Srirama +2
The field of visual representation learning has seen explosive growth in the past years, but its benefits in robotics have been surprisingly limited so far. Prior work uses generic…
Zero-Shot Robot Manipulation from Passive Human Videos
Homanga Bharadhwaj, Abhinav Gupta, Shubham Tulsiani +1
Can we learn robot manipulation for everyday tasks, only by watching videos of humans doing arbitrary tasks in different unstructured settings? Unlike widely adopted strategies of…