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cs.RO2024
Re-Mix: Optimizing Data Mixtures for Large Scale Imitation Learning
Joey Hejna, Chethan Bhateja, Yichen Jiang +2
Increasingly large imitation learning datasets are being collected with the goal of training foundation models for robotics. However, despite the fact that data selection has been…
cs.RO2023
Robotic Offline RL from Internet Videos via Value-Function Pre-Training
Chethan Bhateja, Derek Guo, Dibya Ghosh +6
Pre-training on Internet data has proven to be a key ingredient for broad generalization in many modern ML systems. What would it take to enable such capabilities in robotic reinfo…