4 papers · 1 filter
Freeform Preference Learning for Robotic Manipulation
Marcel Torne, Anubha Mahajan, Abhijnya Bhat +1
Reward design remains a central bottleneck for autonomous robot policy improvement, especially in long-horizon manipulation tasks where sparse success labels provide too little sig…
MEM: Multi-Scale Embodied Memory for Vision Language Action Models
Marcel Torne, Karl Pertsch, Homer Walke +14
Conventionally, memory in end-to-end robotic learning involves inputting a sequence of past observations into the learned policy. However, in complex multi-stage real-world tasks,…
PolaRiS: Scalable Real-to-Sim Evaluations for Generalist Robot Policies
Arhan Jain, Mingtong Zhang, Kanav Arora +11
A significant challenge for robot learning research is our ability to accurately measure and compare the performance of robot policies. Benchmarking in robotics is historically cha…
Learning Long-Context Diffusion Policies via Past-Token Prediction
Marcel Torne, Andy Tang, Yuejiang Liu +1
Reasoning over long sequences of observations and actions is essential for many robotic tasks. Yet, learning effective long-context policies from demonstrations remains challenging…