47 citations · 49 across the 6 of their papers we have counts for
7 papers
On the Effectiveness of Offline RL for Dialogue Response Generation
Paloma Sodhi, Felix Wu, Ethan R. Elenberg +2
A common training technique for language models is teacher forcing (TF). TF attempts to match human language exactly, even though identical meanings can be expressed in different w…
Theseus: A Library for Differentiable Nonlinear Optimization
Luis Pineda, Taosha Fan, Maurizio Monge +10
We present Theseus, an efficient application-agnostic open source library for differentiable nonlinear least squares (DNLS) optimization built on PyTorch, providing a common framew…
PatchGraph: In-hand tactile tracking with learned surface normals
Paloma Sodhi, Michael Kaess, Mustafa Mukadam +1
We address the problem of tracking 3D object poses from touch during in-hand manipulations. Specifically, we look at tracking small objects using vision-based tactile sensors that…
LEO: Learning Energy-based Models in Factor Graph Optimization
Paloma Sodhi, Eric Dexheimer, Mustafa Mukadam +2
We address the problem of learning observation models end-to-end for estimation. Robots operating in partially observable environments must infer latent states from multiple sensor…
CMU-GPR Dataset: Ground Penetrating Radar Dataset for Robot Localization and Mapping
Alexander Baikovitz, Paloma Sodhi, Michael Dille +1
There has been exciting recent progress in using radar as a sensor for robot navigation due to its increased robustness to varying environmental conditions. However, within these d…
Ground Encoding: Learned Factor Graph-based Models for Localizing Ground Penetrating Radar
Alexander Baikovitz, Paloma Sodhi, Michael Dille +1
We address the problem of robot localization using ground penetrating radar (GPR) sensors. Current approaches for localization with GPR sensors require a priori maps of the system'…
Learning Tactile Models for Factor Graph-based Estimation
Paloma Sodhi, Michael Kaess, Mustafa Mukadam +1
We're interested in the problem of estimating object states from touch during manipulation under occlusions. In this work, we address the problem of estimating object poses from to…