144 citations · 484 across the 36 of their papers we have counts for
5 papers · 1 filter
GHIL-Glue: Hierarchical Control with Filtered Subgoal Images
Kyle B. Hatch, Ashwin Balakrishna, Oier Mees +8
Image and video generative models that are pre-trained on Internet-scale data can greatly increase the generalization capacity of robot learning systems. These models can function…
Language-Embedded Gaussian Splats (LEGS): Incrementally Building Room-Scale Representations with a Mobile Robot
Justin Yu, Kush Hari, Kishore Srinivas +9
Building semantic 3D maps is valuable for searching for objects of interest in offices, warehouses, stores, and homes. We present a mapping system that incrementally builds a Langu…
OpenVLA: An Open-Source Vision-Language-Action Model
Moo Jin Kim, Karl Pertsch, Siddharth Karamcheti +15
Large policies pretrained on a combination of Internet-scale vision-language data and diverse robot demonstrations have the potential to change how we teach robots new skills: rath…
CIMRL: Combining IMitation and Reinforcement Learning for Safe Autonomous Driving
Jonathan Booher, Khashayar Rohanimanesh, Junhong Xu +5
Modern approaches to autonomous driving rely heavily on learned components trained with large amounts of human driving data via imitation learning. However, these methods require l…
Prismatic VLMs: Investigating the Design Space of Visually-Conditioned Language Models
Siddharth Karamcheti, Suraj Nair, Ashwin Balakrishna +3
Visually-conditioned language models (VLMs) have seen growing adoption in applications such as visual dialogue, scene understanding, and robotic task planning; adoption that has fu…