384 citations · 807 across the 37 of their papers we have counts for
8 papers · 2 filters
Holo-Dex: Teaching Dexterity with Immersive Mixed Reality
Sridhar Pandian Arunachalam, Irmak Güzey, Soumith Chintala +1
A fundamental challenge in teaching robots is to provide an effective interface for human teachers to demonstrate useful skills to a robot. This challenge is exacerbated in dextero…
That Sounds Right: Auditory Self-Supervision for Dynamic Robot Manipulation
Abitha Thankaraj, Lerrel Pinto
Learning to produce contact-rich, dynamic behaviors from raw sensory data has been a longstanding challenge in robotics. Prominent approaches primarily focus on using visual or tac…
From Play to Policy: Conditional Behavior Generation from Uncurated Robot Data
Zichen Jeff Cui, Yibin Wang, Nur Muhammad Mahi Shafiullah +1
While large-scale sequence modeling from offline data has led to impressive performance gains in natural language and image generation, directly translating such ideas to robotics…
CLIP-Fields: Weakly Supervised Semantic Fields for Robotic Memory
Nur Muhammad Mahi Shafiullah, Chris Paxton, Lerrel Pinto +2
We propose CLIP-Fields, an implicit scene model that can be used for a variety of tasks, such as segmentation, instance identification, semantic search over space, and view localiz…
Watch and Match: Supercharging Imitation with Regularized Optimal Transport
Siddhant Haldar, Vaibhav Mathur, Denis Yarats +1
Imitation learning holds tremendous promise in learning policies efficiently for complex decision making problems. Current state-of-the-art algorithms often use inverse reinforceme…
Dexterous Imitation Made Easy: A Learning-Based Framework for Efficient Dexterous Manipulation
Sridhar Pandian Arunachalam, Sneha Silwal, Ben Evans +1
Optimizing behaviors for dexterous manipulation has been a longstanding challenge in robotics, with a variety of methods from model-based control to model-free reinforcement learni…