5 papers
BIND: Binding 3D Robot Actions to 2D Image Features
Cameron Smith, Arsh Tangri, Vitor Guizilini +3
We introduce BIND, a new action representation for visuomotor robot policies that binds 3D robot actions to their corresponding 2D image features, yielding strong data efficiency g…
Coarse-to-Fine 3D Keyframe Transporter
Xupeng Zhu, David Klee, Dian Wang +5
Recent advances in Keyframe Imitation Learning (IL) have enabled learning-based agents to solve a diverse range of manipulation tasks. However, most approaches ignore the rich symm…
Equivariant Offline Reinforcement Learning
Arsh Tangri, Ondrej Biza, Dian Wang +3
Sample efficiency is critical when applying learning-based methods to robotic manipulation due to the high cost of collecting expert demonstrations and the challenges of on-robot p…
Leveraging Symmetries in Pick and Place
Haojie Huang, Dian Wang, Arsh Tangri +2
Robotic pick and place tasks are symmetric under translations and rotations of both the object to be picked and the desired place pose. For example, if the pick object is rotated o…
Auxiliary Heuristics for Frontier Based Planners
Arsh Tangri, Dhruv Joshi, Ashalatha Nayak
Autonomous exploration of unknown environments is a vital function for robots and has applications in a wide variety of scenarios. Our focus primarily lies in its application for t…