71 citations · 131 across the 4 of their papers we have counts for
4 papers
Learning and Retrieval from Prior Data for Skill-based Imitation Learning
Soroush Nasiriany, Tian Gao, Ajay Mandlekar +1
Imitation learning offers a promising path for robots to learn general-purpose behaviors, but traditionally has exhibited limited scalability due to high data supervision requireme…
What Matters in Learning from Offline Human Demonstrations for Robot Manipulation
Ajay Mandlekar, Danfei Xu, Josiah Wong +7
Imitating human demonstrations is a promising approach to endow robots with various manipulation capabilities. While recent advances have been made in imitation learning and batch…
DisCo RL: Distribution-Conditioned Reinforcement Learning for General-Purpose Policies
Soroush Nasiriany, Vitchyr H. Pong, Ashvin Nair +3
Can we use reinforcement learning to learn general-purpose policies that can perform a wide range of different tasks, resulting in flexible and reusable skills? Contextual policies…
Planning with Goal-Conditioned Policies
Soroush Nasiriany, Vitchyr H. Pong, Steven Lin +1
Planning methods can solve temporally extended sequential decision making problems by composing simple behaviors. However, planning requires suitable abstractions for the states an…