19 citations · 27 across the 8 of their papers we have counts for
7 papers · 1 filter
Latent Policy Steering: An Efficient and Flexible Framework for Cross-Embodiment Transfer
Yiqi Wang, Mrinal Verghese, Jeff Schneider
The performance of learned robot visuomotor policies depends heavily on the size and quality of their training data, yet collecting high-quality demonstrations remains costly for r…
Human Preference Modeling Using Visual Motion Prediction Improves Robot Skill Learning from Egocentric Human Video
Mrinal Verghese, Christopher G. Atkeson
We present an approach to robot learning from egocentric human videos by modeling human preferences in a reward function and optimizing robot behavior to maximize this reward. Prio…
Latent Policy Steering with Embodiment-Agnostic Pretrained World Models
Yiqi Wang, Mrinal Verghese, Jeff Schneider
The performance of learned robot visuomotor policies is heavily dependent on the size and quality of the training dataset. Although large-scale robot and human datasets are increas…
Skills Made to Order: Efficient Acquisition of Robot Cooking Skills Guided by Multiple Forms of Internet Data
Mrinal Verghese, Christopher Atkeson
This study explores the utility of various internet data sources to select among a set of template robot behaviors to perform skills. Learning contact-rich skills involving tool us…
Using Memory-Based Learning to Solve Tasks with State-Action Constraints
Mrinal Verghese, Chris Atkeson
Tasks where the set of possible actions depend discontinuously on the state pose a significant challenge for current reinforcement learning algorithms. For example, a locked door m…
Configuration Space Decomposition for Scalable Proxy Collision Checking in Robot Planning and Control
Mrinal Verghese, Nikhil Das, Yuheng Zhi +1
Real-time robot motion planning in complex high-dimensional environments remains an open problem. Motion planning algorithms, and their underlying collision checkers, are crucial t…
Model-free Visual Control for Continuum Robot Manipulators via Orientation Adaptation
Mrinal Verghese, Florian Richter, Aaron Gunn +2
We present an orientation adaptive controller to compensate for the effects of highly constrained environments on continuum manipulator actuation. A transformation matrix updated u…