2 citations · 4 across the 8 of their papers we have counts for
3 papers · 1 filter
6-DoF Stability Field via Diffusion Models
Takuma Yoneda, Tianchong Jiang, Gregory Shakhnarovich +1
A core capability for robot manipulation is reasoning over where and how to stably place objects in cluttered environments. Traditionally, robots have relied on object-specific, ha…
Cold Diffusion on the Replay Buffer: Learning to Plan from Known Good States
Zidan Wang, Takeru Oba, Takuma Yoneda +3
Learning from demonstrations (LfD) has successfully trained robots to exhibit remarkable generalization capabilities. However, many powerful imitation techniques do not prioritize…
Blending Imitation and Reinforcement Learning for Robust Policy Improvement
Xuefeng Liu, Takuma Yoneda, Rick L. Stevens +2
While reinforcement learning (RL) has shown promising performance, its sample complexity continues to be a substantial hurdle, restricting its broader application across a variety…