From the 1 of 9 linked papers with an AI index.
9 papers
Cross-Embodiment Transfer via Behavior-Aligned Representations
Ajay Sridhar, Jensen Gao, Jonathan Yang +3
The paper investigates how behavior-aligned representations such as object bounding boxes, language-described motions, and end-effector traces can improve cross-embodiment transfer…
A Taxonomy for Evaluating Generalist Robot Manipulation Policies
Jensen Gao, Suneel Belkhale, Sudeep Dasari +3
Machine learning for robot manipulation promises to unlock generalization to novel tasks and environments. But how should we measure the progress of these policies towards generali…
Towards Embodiment Scaling Laws in Robot Locomotion
Bo Ai, Liu Dai, Nico Bohlinger +7
Cross-embodiment generalization underpins the vision of building generalist embodied agents for any robot, yet its enabling factors remain poorly understood. We investigate embodim…
Training Strategies for Efficient Embodied Reasoning
William Chen, Suneel Belkhale, Suvir Mirchandani +4
Robot chain-of-thought reasoning (CoT) -- wherein a model predicts helpful intermediate representations before choosing actions -- provides an effective method for improving the ge…
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…
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…