3 citations · 5 across the 10 of their papers we have counts for
11 papers
When Life Gives You BC, Make Q-functions: Extracting Q-values from Behavior Cloning for On-Robot Reinforcement Learning
Lakshita Dodeja, Ondrej Biza, Shivam Vats +5
Behavior Cloning (BC) has emerged as a highly effective paradigm for robot learning. However, BC lacks a self-guided mechanism for online improvement after demonstrations have been…
One-Shot Cross-Geometry Skill Transfer through Part Decomposition
Skye Thompson, Ondrej Biza, George Konidaris
Given a demonstration, a robot should be able to generalize a skill to any object it encounters-but existing approaches to skill transfer often fail to adapt to objects with unfami…
ROVER: Recursive Reasoning Over Videos with Vision-Language Models for Embodied Tasks
Philip Schroeder, Ondrej Biza, Thomas Weng +2
Vision-language models (VLMs) have exhibited impressive capabilities across diverse image understanding tasks, but still struggle in settings that require reasoning over extended s…
On-Robot Reinforcement Learning with Goal-Contrastive Rewards
Ondrej Biza, Thomas Weng, Lingfeng Sun +6
Reinforcement Learning (RL) has the potential to enable robots to learn from their own actions in the real world. Unfortunately, RL can be prohibitively expensive, in terms of on-r…
Binding Actions to Objects in World Models
Ondrej Biza, Robert Platt, Jan-Willem van de Meent +2
We study the problem of binding actions to objects in object-factored world models using action-attention mechanisms. We propose two attention mechanisms for binding actions to obj…
Sample Efficient Grasp Learning Using Equivariant Models
Xupeng Zhu, Dian Wang, Ondrej Biza +3
In planar grasp detection, the goal is to learn a function from an image of a scene onto a set of feasible grasp poses in . In this paper, we recognize that the opt…