2 citations · 3 across the 9 of their papers we have counts for
6 papers · 1 filter
MuJoCo Playground
Kevin Zakka, Baruch Tabanpour, Qiayuan Liao +10
We introduce MuJoCo Playground, a fully open-source framework for robot learning built with MJX, with the express goal of streamlining simulation, training, and sim-to-real transfe…
Beyond Sight: Finetuning Generalist Robot Policies with Heterogeneous Sensors via Language Grounding
Joshua Jones, Oier Mees, Carmelo Sferrazza +3
Interacting with the world is a multi-sensory experience: achieving effective general-purpose interaction requires making use of all available modalities -- including vision, touch…
Offline Imitation Learning Through Graph Search and Retrieval
Zhao-Heng Yin, Pieter Abbeel
Imitation learning is a powerful machine learning algorithm for a robot to acquire manipulation skills. Nevertheless, many real-world manipulation tasks involve precise and dextero…
MOKA: Open-World Robotic Manipulation through Mark-Based Visual Prompting
Fangchen Liu, Kuan Fang, Pieter Abbeel +1
Open-world generalization requires robotic systems to have a profound understanding of the physical world and the user command to solve diverse and complex tasks. While the recent…
Reinforcement Learning for Versatile, Dynamic, and Robust Bipedal Locomotion Control
Zhongyu Li, Xue Bin Peng, Pieter Abbeel +3
This paper presents a comprehensive study on using deep reinforcement learning (RL) to create dynamic locomotion controllers for bipedal robots. Going beyond focusing on a single l…
FMB: a Functional Manipulation Benchmark for Generalizable Robotic Learning
Jianlan Luo, Charles Xu, Fangchen Liu +5
In this paper, we propose a real-world benchmark for studying robotic learning in the context of functional manipulation: a robot needs to accomplish complex long-horizon behaviors…