5 papers
Scalable Behavior Cloning with Open Data, Training, and Evaluation
Arthur Allshire, Himanshu Gaurav Singh, Ritvik Singh +15
We introduce ABC, a fully open-source stack for manipulation with behavior cloning. At its core is ABC-130K: the largest open-source teleoperation dataset to date, featuring 3,500…
Flow Policy Gradients for Robot Control
Brent Yi, Hongsuk Choi, Himanshu Gaurav Singh +9
Likelihood-based policy gradient methods are the dominant approach for training robot control policies from rewards. These methods rely on differentiable action likelihoods, which…
Tracking by Predicting 3-D Gaussians Over Time
Tanish Baranwal, Himanshu Gaurav Singh, Jathushan Rajasegaran +1
We propose Video Gaussian Masked Autoencoders (Video-GMAE), a self-supervised approach for representation learning that encodes a sequence of images into a set of Gaussian splats m…
Deep Sensorimotor Control by Imitating Predictive Models of Human Motion
Himanshu Gaurav Singh, Pieter Abbeel, Jitendra Malik +1
As the embodiment gap between a robot and a human narrows, new opportunities arise to leverage datasets of humans interacting with their surroundings for robot learning. We propose…
End-to-End Navigation with Vision Language Models: Transforming Spatial Reasoning into Question-Answering
Dylan Goetting, Himanshu Gaurav Singh, Antonio Loquercio
We present VLMnav, an embodied framework to transform a Vision-Language Model (VLM) into an end-to-end navigation policy. In contrast to prior work, we do not rely on a separation…