40 citations · 77 across the 12 of their papers we have counts for
13 papers
Memory Without Curation: Learning Multi-Stream Latent Memory for Robot Policies
Yilin Wu, Rutav Shah, Shuaiyi Huang +5
It is widely appreciated that robotic policies require long-term memory to perform complex tasks. However, directly conditioning policies on all past observations leaves policy lea…
Demonstrating Multi-Suction Item Picking at Scale via Multi-Modal Learning of Pick Success
Che Wang, Jeroen van Baar, Chaitanya Mitash +6
This work demonstrates how autonomously learning aspects of robotic operation from sparsely-labeled, real-world data of deployed, engineered solutions at industrial scale can provi…
ReWiND: Language-Guided Rewards Teach Robot Policies without New Demonstrations
Jiahui Zhang, Yusen Luo, Abrar Anwar +5
We introduce ReWiND, a framework for learning robot manipulation tasks solely from language instructions without per-task demonstrations. Standard reinforcement learning (RL) and i…
Value Explicit Pretraining for Learning Transferable Representations
Kiran Lekkala, Henghui Bao, Sumedh A. Sontakke +2
Understanding visual inputs for a given task amidst varied changes is a key challenge posed by visual reinforcement learning agents. We propose \textit{Value Explicit Pretraining}…
Q-Transformer: Scalable Offline Reinforcement Learning via Autoregressive Q-Functions
Yevgen Chebotar, Quan Vuong, Alex Irpan +22
In this work, we present a scalable reinforcement learning method for training multi-task policies from large offline datasets that can leverage both human demonstrations and auton…
RoboCLIP: One Demonstration is Enough to Learn Robot Policies
Sumedh A Sontakke, Jesse Zhang, Sébastien M. R. Arnold +5
Reward specification is a notoriously difficult problem in reinforcement learning, requiring extensive expert supervision to design robust reward functions. Imitation learning (IL)…
Lightweight Learner for Shared Knowledge Lifelong Learning
Yunhao Ge, Yuecheng Li, Di Wu +12
In Lifelong Learning (LL), agents continually learn as they encounter new conditions and tasks. Most current LL is limited to a single agent that learns tasks sequentially. Dedicat…
RT-1: Robotics Transformer for Real-World Control at Scale
Anthony Brohan, Noah Brown, Justice Carbajal +48
By transferring knowledge from large, diverse, task-agnostic datasets, modern machine learning models can solve specific downstream tasks either zero-shot or with small task-specif…
Model2Detector: Widening the Information Bottleneck for Out-of-Distribution Detection using a Handful of Gradient Steps
Sumedh A Sontakke, Buvaneswari Ramanan, Laurent Itti +1
Out-of-distribution detection is an important capability that has long eluded vanilla neural networks. Deep Neural networks (DNNs) tend to generate over-confident predictions when…
GalilAI: Out-of-Task Distribution Detection using Causal Active Experimentation for Safe Transfer RL
Sumedh A Sontakke, Stephen Iota, Zizhao Hu +3
Out-of-distribution (OOD) detection is a well-studied topic in supervised learning. Extending the successes in supervised learning methods to the reinforcement learning (RL) settin…
Video2Skill: Adapting Events in Demonstration Videos to Skills in an Environment using Cyclic MDP Homomorphisms
Sumedh A Sontakke, Sumegh Roychowdhury, Mausoom Sarkar +3
Humans excel at learning long-horizon tasks from demonstrations augmented with textual commentary, as evidenced by the burgeoning popularity of tutorial videos online. Intuitively,…
Causal Curiosity: RL Agents Discovering Self-supervised Experiments for Causal Representation Learning
Sumedh A. Sontakke, Arash Mehrjou, Laurent Itti +1
Animals exhibit an innate ability to learn regularities of the world through interaction. By performing experiments in their environment, they are able to discern the causal factor…
SHERLock: Self-Supervised Hierarchical Event Representation Learning
Sumegh Roychowdhury, Sumedh A. Sontakke, Nikaash Puri +5
Temporal event representations are an essential aspect of learning among humans. They allow for succinct encoding of the experiences we have through a variety of sensory inputs. Al…