10 papers
Composer 2 Technical Report
Cursor Research, :, Aaron Chan +53
Composer 2 is a specialized model designed for agentic software engineering. The model demonstrates strong long-term planning and coding intelligence while maintaining the ability…
Scaffolding Dexterous Manipulation with Vision-Language Models
Vincent de Bakker, Joey Hejna, Tyler Ga Wei Lum +6
Dexterous robotic hands are essential for performing complex manipulation tasks, yet remain difficult to train due to the challenges of demonstration collection and high-dimensiona…
Data Retrieval with Importance Weights for Few-Shot Imitation Learning
Amber Xie, Rahul Chand, Dorsa Sadigh +1
While large-scale robot datasets have propelled recent progress in imitation learning, learning from smaller task specific datasets remains critical for deployment in new environme…
Robot Data Curation with Mutual Information Estimators
Joey Hejna, Suvir Mirchandani, Ashwin Balakrishna +7
The performance of imitation learning policies often hinges on the datasets with which they are trained. Consequently, investment in data collection for robotics has grown across b…
DROID: A Large-Scale In-The-Wild Robot Manipulation Dataset
Alexander Khazatsky, Karl Pertsch, Suraj Nair +98
The creation of large, diverse, high-quality robot manipulation datasets is an important stepping stone on the path toward more capable and robust robotic manipulation policies. Ho…
Aligning Language Models with Demonstrated Feedback
Omar Shaikh, Michelle S. Lam, Joey Hejna +4
Language models are aligned to emulate the collective voice of many, resulting in outputs that align with no one in particular. Steering LLMs away from generic output is possible t…