103 citations · 262 across the 20 of their papers we have counts for
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Open X-Embodiment: Robotic Learning Datasets and RT-X Models
Embodiment Collaboration, Abby O'Neill, Abdul Rehman +291
Large, high-capacity models trained on diverse datasets have shown remarkable successes on efficiently tackling downstream applications. In domains from NLP to Computer Vision, thi…
Data Quality in Imitation Learning
Suneel Belkhale, Yuchen Cui, Dorsa Sadigh
In supervised learning, the question of data quality and curation has been over-shadowed in recent years by increasingly more powerful and expressive models that can ingest interne…
HYDRA: Hybrid Robot Actions for Imitation Learning
Suneel Belkhale, Yuchen Cui, Dorsa Sadigh
Imitation Learning (IL) is a sample efficient paradigm for robot learning using expert demonstrations. However, policies learned through IL suffer from state distribution shift at…
KITE: Keypoint-Conditioned Policies for Semantic Manipulation
Priya Sundaresan, Suneel Belkhale, Dorsa Sadigh +1
While natural language offers a convenient shared interface for humans and robots, enabling robots to interpret and follow language commands remains a longstanding challenge in man…
Parallel Sampling of Diffusion Models
Andy Shih, Suneel Belkhale, Stefano Ermon +2
Diffusion models are powerful generative models but suffer from slow sampling, often taking 1000 sequential denoising steps for one sample. As a result, considerable efforts have b…