254 citations · 884 across the 46 of their papers we have counts for
7 papers · 1 filter
Signatures Meet Dynamic Programming: Generalizing Bellman Equations for Trajectory Following
Motoya Ohnishi, Iretiayo Akinola, Jie Xu +2
Path signatures have been proposed as a powerful representation of paths that efficiently captures the path's analytic and geometric characteristics, having useful algebraic proper…
NOD-TAMP: Generalizable Long-Horizon Planning with Neural Object Descriptors
Shuo Cheng, Caelan Garrett, Ajay Mandlekar +1
Solving complex manipulation tasks in household and factory settings remains challenging due to long-horizon reasoning, fine-grained interactions, and broad object and scene divers…
MimicGen: A Data Generation System for Scalable Robot Learning using Human Demonstrations
Ajay Mandlekar, Soroush Nasiriany, Bowen Wen +5
Imitation learning from a large set of human demonstrations has proved to be an effective paradigm for building capable robot agents. However, the demonstrations can be extremely c…
Human-in-the-Loop Task and Motion Planning for Imitation Learning
Ajay Mandlekar, Caelan Garrett, Danfei Xu +1
Imitation learning from human demonstrations can teach robots complex manipulation skills, but is time-consuming and labor intensive. In contrast, Task and Motion Planning (TAMP) s…
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…
Voyager: An Open-Ended Embodied Agent with Large Language Models
Guanzhi Wang, Yuqi Xie, Yunfan Jiang +5
We introduce Voyager, the first LLM-powered embodied lifelong learning agent in Minecraft that continuously explores the world, acquires diverse skills, and makes novel discoveries…