206 citations · 340 across the 26 of their papers we have counts for
5 papers · 1 filter
CUPID: Curating Data your Robot Loves with Influence Functions
Christopher Agia, Rohan Sinha, Jingyun Yang +5
In robot imitation learning, policy performance is tightly coupled with the quality and composition of the demonstration data. Yet, developing a precise understanding of how indivi…
HoMeR: Learning In-the-Wild Mobile Manipulation via Hybrid Imitation and Whole-Body Control
Priya Sundaresan, Rhea Malhotra, Phillip Miao +7
We introduce HoMeR, an imitation learning framework for mobile manipulation that combines whole-body control with hybrid action modes that handle both long-range and fine-grained m…
Causal-PIK: Causality-based Physical Reasoning with a Physics-Informed Kernel
Carlota Parés-Morlans, Michelle Yi, Claire Chen +4
Tasks that involve complex interactions between objects with unknown dynamics make planning before execution difficult. These tasks require agents to iteratively improve their acti…
Deformable Cargo Transport in Microgravity with Astrobee
Daniel Morton, Rika Antonova, Brian Coltin +2
We present pyastrobee: a simulation environment and control stack for Astrobee in Python, with an emphasis on cargo manipulation and transport tasks. We also demonstrate preliminar…
Mobi-: Mobilizing Your Robot Learning Policy
Jingyun Yang, Isabella Huang, Brandon Vu +3
Learned visuomotor policies are capable of performing increasingly complex manipulation tasks. However, most of these policies are trained on data collected from limited robot posi…