9 papers
Beyond Episodic Evaluation: Memory Architectural Bottlenecks in Sequential Embodied Question Answering
Zikui Cai, Kaushal Janga, Tan Dat Dao +15
Embodied question answering (EQA) is traditionally evaluated under an episodic formulation, where agents solve each task independently and reset internal state between episodes. Ho…
DataMIL: Selecting Data for Robot Imitation Learning with Datamodels
Shivin Dass, Alaa Khaddaj, Logan Engstrom +3
Recently, the robotics community has amassed ever larger and more diverse datasets to train generalist policies. However, while these policies achieve strong mean performance acros…
Mash, Spread, Slice! Learning to Manipulate Object States via Visual Spatial Progress
Priyanka Mandikal, Jiaheng Hu, Shivin Dass +3
Most robot manipulation focuses on changing the kinematic state of objects: picking, placing, opening, or rotating them. However, a wide range of real-world manipulation tasks invo…
RoboArena: Distributed Real-World Evaluation of Generalist Robot Policies
Pranav Atreya, Karl Pertsch, Tony Lee +29
Comprehensive, unbiased, and comparable evaluation of modern generalist policies is uniquely challenging: existing approaches for robot benchmarking typically rely on heavy standar…
COLLAGE: Adaptive Fusion-based Retrieval for Augmented Policy Learning
Sateesh Kumar, Shivin Dass, Georgios Pavlakos +1
In this work, we study the problem of data retrieval for few-shot imitation learning: selecting data from a large dataset to train a performant policy for a specific task, given on…
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…