4 papers
OGPO: Sample Efficient Full-Finetuning of Generative Control Policies
Sarvesh Patil, Mitsuhiko Nakamoto, Manan Agarwal +14
Generative control policies (GCPs), such as diffusion- and flow-based control policies, have emerged as effective parameterizations for robot learning. This work introduces Off-pol…
Autonomously Unweaving Multiple Cables Using Visual Feedback
Tina Tian, Xinyu Wang, Andrew L. Orekhov +4
Many cable management tasks involve separating out the different cables and removing tangles. Automating this task is challenging because cables are deformable and can have combina…
Cascaded Diffusion Models for Neural Motion Planning
Mohit Sharma, Adam Fishman, Vikash Kumar +2
Robots in the real world need to perceive and move to goals in complex environments without collisions. Avoiding collisions is especially difficult when relying on sensor perceptio…
GraphEQA: Using 3D Semantic Scene Graphs for Real-time Embodied Question Answering
Saumya Saxena, Blake Buchanan, Chris Paxton +6
In Embodied Question Answering (EQA), agents must explore and develop a semantic understanding of an unseen environment to answer a situated question with confidence. This problem…