307 citations · 626 across the 12 of their papers we have counts for
5 papers · 1 filter
Unlocking Generalization for Robotics via Modularity and Scale
Murtaza Dalal
How can we build generalist robot systems? Scale may not be enough due to the significant multimodality of robotics tasks, lack of easily accessible data and the challenges of depl…
Local Policies Enable Zero-shot Long-horizon Manipulation
Murtaza Dalal, Min Liu, Walter Talbott +4
Sim2real for robotic manipulation is difficult due to the challenges of simulating complex contacts and generating realistic task distributions. To tackle the latter problem, we in…
Neural MP: A Generalist Neural Motion Planner
Murtaza Dalal, Jiahui Yang, Russell Mendonca +3
The current paradigm for motion planning generates solutions from scratch for every new problem, which consumes significant amounts of time and computational resources. For complex…
Imitating Task and Motion Planning with Visuomotor Transformers
Murtaza Dalal, Ajay Mandlekar, Caelan Garrett +3
Imitation learning is a powerful tool for training robot manipulation policies, allowing them to learn from expert demonstrations without manual programming or trial-and-error. How…
Scalable Multi-Task Imitation Learning with Autonomous Improvement
Avi Singh, Eric Jang, Alexander Irpan +5
While robot learning has demonstrated promising results for enabling robots to automatically acquire new skills, a critical challenge in deploying learning-based systems is scale:…