5 papers · 1 filter
Reward-DAgger: Robot-Gated Interactive Imitation Learning with General-Purpose Progress-Based Reward Models
Ryan Li, Yigit Korkmaz, Erdem Bıyık
Recent advances in robot learning have enabled generalist control policies capable of completing a wide range of tasks. However, their performance degrades when deployed in unseen…
Robometer: Scaling General-Purpose Robotic Reward Models via Trajectory Comparisons
Anthony Liang, Yigit Korkmaz, Jiahui Zhang +14
General-purpose robot reward models are typically trained to predict absolute task progress from expert demonstrations, providing only local, frame-level supervision. While effecti…
When a Robot is More Capable than a Human: Learning from Constrained Demonstrators
Xinhu Li, Ayush Jain, Zhaojing Yang +2
Learning from demonstrations enables experts to teach robots complex tasks using interfaces such as kinesthetic teaching, joystick control, and sim-to-real transfer. However, these…
MILE: Model-based Intervention Learning
Yigit Korkmaz, Erdem Bıyık
Imitation learning techniques have been shown to be highly effective in real-world control scenarios, such as robotics. However, these approaches not only suffer from compounding e…
CyberDemo: Augmenting Simulated Human Demonstration for Real-World Dexterous Manipulation
Jun Wang, Yuzhe Qin, Kaiming Kuang +4
We introduce CyberDemo, a novel approach to robotic imitation learning that leverages simulated human demonstrations for real-world tasks. By incorporating extensive data augmentat…