4 papers · 1 filter
QF3: Fast Flow RL with Filtered Q-Gradients
Chung Min Kim, Brent Yi, David McAllister +7
Flow policies have become a standard policy class for learning robot behaviors from demonstrations, but reinforcement learning is still critical for improving pre-trained flow poli…
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…
LoV3D: Grounding Cognitive Prognosis Reasoning in Longitudinal 3D Brain MRI via Regional Volume Assessments
Zhaoyang Jiang, Zhizhong Fu, David McAllister +2
Longitudinal brain MRI is essential for characterizing the progression of neurological diseases such as Alzheimer's disease assessment. However, current deep-learning tools fragmen…
Finite Difference Flow Optimization for RL Post-Training of Text-to-Image Models
David McAllister, Miika Aittala, Tero Karras +4
Reinforcement learning (RL) has become a standard technique for post-training diffusion-based image synthesis models, as it enables learning from reward signals to explicitly impro…