5 papers
Will People Enjoy a Robot Trainer? A Case Study with Snoopie the Pacerbot
Maximilian Du, Jennifer Grannen, Shuran Song +1
The physicality of exercise makes the role of athletic trainers unique. Their physical presence allows them to guide a student through a motion, demonstrate an exercise, and give i…
DynaGuide: Steering Diffusion Polices with Active Dynamic Guidance
Maximilian Du, Shuran Song
Deploying large, complex policies in the real world requires the ability to steer them to fit the needs of a situation. Most common steering approaches, like goal-conditioning, req…
Open X-Embodiment: Robotic Learning Datasets and RT-X Models
Embodiment Collaboration, Abby O'Neill, Abdul Rehman +291
Large, high-capacity models trained on diverse datasets have shown remarkable successes on efficiently tackling downstream applications. In domains from NLP to Computer Vision, thi…
Bidirectional Decoding: Improving Action Chunking via Guided Test-Time Sampling
Yuejiang Liu, Jubayer Ibn Hamid, Annie Xie +3
Predicting and executing a sequence of actions without intermediate replanning, known as action chunking, is increasingly used in robot learning from human demonstrations. Yet, its…
RLDG: Robotic Generalist Policy Distillation via Reinforcement Learning
Charles Xu, Qiyang Li, Jianlan Luo +1
Recent advances in robotic foundation models have enabled the development of generalist policies that can adapt to diverse tasks. While these models show impressive flexibility, th…