4 papers
You've Got a Golden Ticket: Improving Generative Robot Policies With A Single Noise Vector
Omkar Patil, Ondrej Biza, Thomas Weng +9
What happens when a pretrained generative robot policy is provided a constant initial noise as input, rather than repeatedly sampling it from a Gaussian? We demonstrate that the pe…
ExpertGen: Scalable Sim-to-Real Expert Policy Learning from Imperfect Behavior Priors
Zifan Xu, Ran Gong, Maria Vittoria Minniti +10
Learning generalizable and robust behavior cloning policies requires large volumes of high-quality robotics data. While human demonstrations (e.g., through teleoperation) serve as…
SOLE-R1: Video-Language Reasoning as the Sole Reward for On-Robot Reinforcement Learning
Philip Schroeder, Thomas Weng, Karl Schmeckpeper +3
Vision-language models (VLMs) have shown impressive capabilities across diverse tasks, motivating efforts to leverage these models to supervise robot learning. However, when used a…
Factorizing Diffusion Policies for Observation Modality Prioritization
Omkar Patil, Prabin Rath, Kartikay Pangaonkar +2
Diffusion models have been extensively leveraged for learning robot skills from demonstrations. These policies are conditioned on several observational modalities such as proprioce…