173 citations · 352 across the 10 of their papers we have counts for
10 papers
Socratic Models: Composing Zero-Shot Multimodal Reasoning with Language
Andy Zeng, Maria Attarian, Brian Ichter +10
Large pretrained (e.g., "foundation") models exhibit distinct capabilities depending on the domain of data they are trained on. While these domains are generic, they may only barel…
Learning to Fold Real Garments with One Arm: A Case Study in Cloud-Based Robotics Research
Ryan Hoque, Kaushik Shivakumar, Shrey Aeron +7
Autonomous fabric manipulation is a longstanding challenge in robotics, but evaluating progress is difficult due to the cost and diversity of robot hardware. Using Reach, a cloud r…
Implicit Behavioral Cloning
Pete Florence, Corey Lynch, Andy Zeng +7
We find that across a wide range of robot policy learning scenarios, treating supervised policy learning with an implicit model generally performs better, on average, than commonly…
Transporter Networks: Rearranging the Visual World for Robotic Manipulation
Andy Zeng, Pete Florence, Jonathan Tompson +9
Robotic manipulation can be formulated as inducing a sequence of spatial displacements: where the space being moved can encompass an object, part of an object, or end effector. In…
Spatial Action Maps for Mobile Manipulation
Jimmy Wu, Xingyuan Sun, Andy Zeng +4
Typical end-to-end formulations for learning robotic navigation involve predicting a small set of steering command actions (e.g., step forward, turn left, turn right, etc.) from im…
Grasping in the Wild:Learning 6DoF Closed-Loop Grasping from Low-Cost Demonstrations
Shuran Song, Andy Zeng, Johnny Lee +1
Intelligent manipulation benefits from the capacity to flexibly control an end-effector with high degrees of freedom (DoF) and dynamically react to the environment. However, due to…