5 papers · 1 filter
One Demo is Worth a Thousand Trajectories: Action-View Augmentation for Visuomotor Policies
Chuer Pan, Litian Liang, Dominik Bauer +4
Visuomotor policies for manipulation have demonstrated remarkable potential in modeling complex robotic behaviors, yet minor alterations in the robot's initial configuration and un…
Using Non-Expert Data to Robustify Imitation Learning via Offline Reinforcement Learning
Kevin Huang, Rosario Scalise, Cleah Winston +9
Imitation learning has proven effective for training robots to perform complex tasks from expert human demonstrations. However, it remains limited by its reliance on high-quality,…
A Careful Examination of Large Behavior Models for Multitask Dexterous Manipulation
TRI LBM Team, Jose Barreiros, Andrew Beaulieu +79
Robot manipulation has seen tremendous progress in recent years, with imitation learning policies enabling successful performance of dexterous and hard-to-model tasks. Concurrently…
Diffusion Policy Policy Optimization
Allen Z. Ren, Justin Lidard, Lars L. Ankile +6
We introduce Diffusion Policy Policy Optimization, DPPO, an algorithmic framework including best practices for fine-tuning diffusion-based policies (e.g. Diffusion Policy) in conti…
GHIL-Glue: Hierarchical Control with Filtered Subgoal Images
Kyle B. Hatch, Ashwin Balakrishna, Oier Mees +8
Image and video generative models that are pre-trained on Internet-scale data can greatly increase the generalization capacity of robot learning systems. These models can function…