most citedBeyond Uniform Sampling: Offline Reinforcement Learning with Imbalanced Datasets

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cs.RO2024

Robot Learning with Super-Linear Scaling

Marcel Torne, Arhan Jain, Jiayi Yuan +5

Scaling robot learning requires data collection pipelines that scale favorably with human effort. In this work, we propose Crowdsourcing and Amortizing Human Effort for Real-to-Sim…

cs.RO2024

Reconciling Reality through Simulation: A Real-to-Sim-to-Real Approach for Robust Manipulation

Marcel Torne, Anthony Simeonov, Zechu Li +4

Imitation learning methods need significant human supervision to learn policies robust to changes in object poses, physical disturbances, and visual distractors. Reinforcement lear…