103 citations · 108 across the 7 of their papers we have counts for
5 papers · 1 filter
RLDG: Robotic Generalist Policy Distillation via Reinforcement Learning
Charles Xu, Qiyang Li, Jianlan Luo +1
Recent advances in robotic foundation models have enabled the development of generalist policies that can adapt to diverse tasks. While these models show impressive flexibility, th…
RoVi-Aug: Robot and Viewpoint Augmentation for Cross-Embodiment Robot Learning
Lawrence Yunliang Chen, Chenfeng Xu, Karthik Dharmarajan +6
Scaling up robot learning requires large and diverse datasets, and how to efficiently reuse collected data and transfer policies to new embodiments remains an open question. Emergi…
SuFIA: Language-Guided Augmented Dexterity for Robotic Surgical Assistants
Masoud Moghani, Lars Doorenbos, William Chung-Ho Panitch +4
In this work, we present SuFIA, the first framework for natural language-guided augmented dexterity for robotic surgical assistants. SuFIA incorporates the strong reasoning capabil…
IntervenGen: Interventional Data Generation for Robust and Data-Efficient Robot Imitation Learning
Ryan Hoque, Ajay Mandlekar, Caelan Garrett +2
Imitation learning is a promising paradigm for training robot control policies, but these policies can suffer from distribution shift, where the conditions at evaluation time diffe…
DROID: A Large-Scale In-The-Wild Robot Manipulation Dataset
Alexander Khazatsky, Karl Pertsch, Suraj Nair +98
The creation of large, diverse, high-quality robot manipulation datasets is an important stepping stone on the path toward more capable and robust robotic manipulation policies. Ho…