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DexDrummer: In-Hand, Contact-Rich, and Long-Horizon Dexterous Robot Drumming
Hung-Chieh Fang, Amber Xie, Jennifer Grannen +2
Performing in-hand, contact-rich, and long-horizon dexterous manipulation remains an unsolved challenge in robotics. Prior hand dexterity works have considered each of these three…
HandelBot: Real-World Piano Playing via Fast Adaptation of Dexterous Robot Policies
Amber Xie, Haozhi Qi, Dorsa Sadigh
Mastering dexterous manipulation with multi-fingered hands has been a grand challenge in robotics for decades. Despite its potential, the difficulty of collecting high-quality data…
Data Retrieval with Importance Weights for Few-Shot Imitation Learning
Amber Xie, Rahul Chand, Dorsa Sadigh +1
While large-scale robot datasets have propelled recent progress in imitation learning, learning from smaller task specific datasets remains critical for deployment in new environme…
Latent Diffusion Planning for Imitation Learning
Amber Xie, Oleh Rybkin, Dorsa Sadigh +1
Recent progress in imitation learning has been enabled by policy architectures that scale to complex visuomotor tasks, multimodal distributions, and large datasets. However, these…
FlowRetrieval: Flow-Guided Data Retrieval for Few-Shot Imitation Learning
Li-Heng Lin, Yuchen Cui, Amber Xie +2
Few-shot imitation learning relies on only a small amount of task-specific demonstrations to efficiently adapt a policy for a given downstream tasks. Retrieval-based methods come w…