2 citations · 3 across the 4 of their papers we have counts for
5 papers
NEEDLEWORK: Offline Rewriting of Robot Data with Verified Local Stitches
Juntao Ren, Yifan Hou, Shuran Song
Robot demonstrations may contain useful behavior even when individual episodes are inefficient or unsuccessful. Trajectory stitching offers a way to compose these behaviors into im…
A Smooth Sea Never Made a Skilled SAILOR: Robust Imitation via Learning to Search
Arnav Kumar Jain, Vibhakar Mohta, Subin Kim +5
The fundamental limitation of the behavioral cloning (BC) approach to imitation learning is that it only teaches an agent what the expert did at states the expert visited. This mea…
Motion Tracks: A Unified Representation for Human-Robot Transfer in Few-Shot Imitation Learning
Juntao Ren, Priya Sundaresan, Dorsa Sadigh +2
Teaching robots to autonomously complete everyday tasks remains a challenge. Imitation Learning (IL) is a powerful approach that imbues robots with skills via demonstrations, but i…
MOSAIC: Modular Foundation Models for Assistive and Interactive Cooking
Huaxiaoyue Wang, Kushal Kedia, Juntao Ren +14
We present MOSAIC, a modular architecture for coordinating multiple robots to (a) interact with users using natural language and (b) manipulate an open vocabulary of everyday objec…
Hybrid Inverse Reinforcement Learning
Juntao Ren, Gokul Swamy, Zhiwei Steven Wu +2
The inverse reinforcement learning approach to imitation learning is a double-edged sword. On the one hand, it can enable learning from a smaller number of expert demonstrations wi…