4 papers · 1 filter
Beyond Sight: Finetuning Generalist Robot Policies with Heterogeneous Sensors via Language Grounding
Joshua Jones, Oier Mees, Carmelo Sferrazza +3
Interacting with the world is a multi-sensory experience: achieving effective general-purpose interaction requires making use of all available modalities -- including vision, touch…
MOKA: Open-World Robotic Manipulation through Mark-Based Visual Prompting
Fangchen Liu, Kuan Fang, Pieter Abbeel +1
Open-world generalization requires robotic systems to have a profound understanding of the physical world and the user command to solve diverse and complex tasks. While the recent…
FMB: a Functional Manipulation Benchmark for Generalizable Robotic Learning
Jianlan Luo, Charles Xu, Fangchen Liu +5
In this paper, we propose a real-world benchmark for studying robotic learning in the context of functional manipulation: a robot needs to accomplish complex long-horizon behaviors…
Reinforcement Learning for Versatile, Dynamic, and Robust Bipedal Locomotion Control
Zhongyu Li, Xue Bin Peng, Pieter Abbeel +3
This paper presents a comprehensive study on using deep reinforcement learning (RL) to create dynamic locomotion controllers for bipedal robots. Going beyond focusing on a single l…