36 citations · 81 across the 21 of their papers we have counts for
21 papers
AutoMate: Specialist and Generalist Assembly Policies over Diverse Geometries
Bingjie Tang, Iretiayo Akinola, Jie Xu +7
Robotic assembly for high-mixture settings requires adaptivity to diverse parts and poses, which is an open challenge. Meanwhile, in other areas of robotics, large models and sim-t…
VLN-Video: Utilizing Driving Videos for Outdoor Vision-and-Language Navigation
Jialu Li, Aishwarya Padmakumar, Gaurav Sukhatme +1
Outdoor Vision-and-Language Navigation (VLN) requires an agent to navigate through realistic 3D outdoor environments based on natural language instructions. The performance of exis…
Conditionally Combining Robot Skills using Large Language Models
K. R. Zentner, Ryan Julian, Brian Ichter +1
This paper combines two contributions. First, we introduce an extension of the Meta-World benchmark, which we call "Language-World," which allows a large language model to operate…
HyperPPO: A scalable method for finding small policies for robotic control
Shashank Hegde, Zhehui Huang, Gaurav S. Sukhatme
Models with fewer parameters are necessary for the neural control of memory-limited, performant robots. Finding these smaller neural network architectures can be time-consuming. We…
Exploiting Generalization in Offline Reinforcement Learning via Unseen State Augmentations
Nirbhay Modhe, Qiaozi Gao, Ashwin Kalyan +3
Offline reinforcement learning (RL) methods strike a balance between exploration and exploitation by conservative value estimation -- penalizing values of unseen states and actions…
LEMMA: Learning Language-Conditioned Multi-Robot Manipulation
Ran Gong, Xiaofeng Gao, Qiaozi Gao +3
Complex manipulation tasks often require robots with complementary capabilities to collaborate. We introduce a benchmark for LanguagE-Conditioned Multi-robot MAnipulation (LEMMA) f…