5 papers · 1 filter
VeriGraph: Scene Graphs for Execution Verifiable Robot Planning
Daniel Ekpo, Mara Levy, Saksham Suri +3
Recent progress in vision-language models (VLMs) has opened new possibilities for robot task planning, but these models often produce incorrect action sequences. To address these l…
NeRF-Aug: Data Augmentation for Robotics with Neural Radiance Fields
Eric Zhu, Mara Levy, Matthew Gwilliam +1
Training a policy that can generalize to unknown objects is a long standing challenge within the field of robotics. The performance of a policy often drops significantly in situati…
TREND: Tri-teaching for Robust Preference-based Reinforcement Learning with Demonstrations
Shuaiyi Huang, Mara Levy, Anubhav Gupta +3
Preference feedback collected by human or VLM annotators is often noisy, presenting a significant challenge for preference-based reinforcement learning that relies on accurate pref…
P3-PO: Prescriptive Point Priors for Visuo-Spatial Generalization of Robot Policies
Mara Levy, Siddhant Haldar, Lerrel Pinto +1
Developing generalizable robot policies that can robustly handle varied environmental conditions and object instances remains a fundamental challenge in robot learning. While consi…
WayEx: Waypoint Exploration using a Single Demonstration
Mara Levy, Nirat Saini, Abhinav Shrivastava
We propose WayEx, a new method for learning complex goal-conditioned robotics tasks from a single demonstration. Our approach distinguishes itself from existing imitation learning…