4 papers
Self-Supervised Keyframe Discovery for Horizon-Invariant Behavior Cloning
Prabin Kumar Rath, Omkar Patil, Nakul Gopalan
Behavior cloning (BC) in non-Markovian environments is a challenging problem because policies have to reason over contextual information over long horizons. Existing policy archite…
StageCraft: Execution Aware Mitigation of Distractor and Obstruction Failures in VLA Models
Kartikay Milind Pangaonkar, Prabin Rath, Omkar Patil +1
Large scale pre-training on text and image data along with diverse robot demonstrations has helped Vision Language Action models (VLAs) to generalize to novel tasks, objects and sc…
Factorizing Diffusion Policies for Observation Modality Prioritization
Omkar Patil, Prabin Rath, Kartikay Pangaonkar +2
Diffusion models have been extensively leveraged for learning robot skills from demonstrations. These policies are conditioned on several observational modalities such as proprioce…
XMoP: Whole-Body Control Policy for Zero-shot Cross-Embodiment Neural Motion Planning
Prabin Kumar Rath, Nakul Gopalan
Classical manipulator motion planners work across different robot embodiments. However they plan on a pre-specified static environment representation, and are not scalable to unsee…