1 citations · 1 across the 4 of their papers we have counts for
4 papers
ReinforceGen: Hybrid Skill Policies with Automated Data Generation and Reinforcement Learning
Zihan Zhou, Animesh Garg, Ajay Mandlekar +1
Long-horizon manipulation has been a long-standing challenge in the robotics community. We propose ReinforceGen, a system that combines task decomposition, data generation, imitati…
Towards Embodiment Scaling Laws in Robot Locomotion
Bo Ai, Liu Dai, Nico Bohlinger +7
Cross-embodiment generalization underpins the vision of building generalist embodied agents for any robot, yet its enabling factors remain poorly understood. We investigate embodim…
Composable Part-Based Manipulation
Weiyu Liu, Jiayuan Mao, Joy Hsu +3
In this paper, we propose composable part-based manipulation (CPM), a novel approach that leverages object-part decomposition and part-part correspondences to improve learning and…
Uniformly Safe RL with Objective Suppression for Multi-Constraint Safety-Critical Applications
Zihan Zhou, Jonathan Booher, Khashayar Rohanimanesh +3
Safe reinforcement learning tasks are a challenging domain despite being very common in the real world. The widely adopted CMDP model constrains the risks in expectation, which mak…