254 citations · 884 across the 46 of their papers we have counts for
9 papers · 1 filter
One-Step Diffusion Policy: Fast Visuomotor Policies via Diffusion Distillation
Zhendong Wang, Zhaoshuo Li, Ajay Mandlekar +9
Diffusion models, praised for their success in generative tasks, are increasingly being applied to robotics, demonstrating exceptional performance in behavior cloning. However, the…
SkillMimicGen: Automated Demonstration Generation for Efficient Skill Learning and Deployment
Caelan Garrett, Ajay Mandlekar, Bowen Wen +1
Imitation learning from human demonstrations is an effective paradigm for robot manipulation, but acquiring large datasets is costly and resource-intensive, especially for long-hor…
SPIRE: Synergistic Planning, Imitation, and Reinforcement Learning for Long-Horizon Manipulation
Zihan Zhou, Animesh Garg, Dieter Fox +2
Robot learning has proven to be a general and effective technique for programming manipulators. Imitation learning is able to teach robots solely from human demonstrations but is b…
DexMimicGen: Automated Data Generation for Bimanual Dexterous Manipulation via Imitation Learning
Zhenyu Jiang, Yuqi Xie, Kevin Lin +5
Imitation learning from human demonstrations is an effective means to teach robots manipulation skills. But data acquisition is a major bottleneck in applying this paradigm more br…
Latent Action Pretraining from Videos
Seonghyeon Ye, Joel Jang, Byeongguk Jeon +13
We introduce Latent Action Pretraining for general Action models (LAPA), an unsupervised method for pretraining Vision-Language-Action (VLA) models without ground-truth robot actio…
AHA: A Vision-Language-Model for Detecting and Reasoning Over Failures in Robotic Manipulation
Jiafei Duan, Wilbert Pumacay, Nishanth Kumar +7
Robotic manipulation in open-world settings requires not only task execution but also the ability to detect and learn from failures. While recent advances in vision-language models…