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09/05/2023
Deep Imitation Learning for Humanoid Loco-manipulation through Human Teleoperation
We tackle the problem of developing humanoid loco-manipulation skills wi...
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07/21/2023
Symbolic State Space Optimization for Long Horizon Mobile Manipulation Planning
In existing task and motion planning (TAMP) research, it is a common ass...
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06/15/2023
Granger-Causal Hierarchical Skill Discovery
Reinforcement Learning (RL) has shown promising results learning policie...
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06/05/2023
LIBERO: Benchmarking Knowledge Transfer for Lifelong Robot Learning
Lifelong learning offers a promising paradigm of building a generalist a...
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05/25/2023
Voyager: An Open-Ended Embodied Agent with Large Language Models
We introduce Voyager, the first LLM-powered embodied lifelong learning a...
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05/22/2023
Fast Monocular Scene Reconstruction with Global-Sparse Local-Dense Grids
Indoor scene reconstruction from monocular images has long been sought a...
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02/09/2023
Re-ViLM: Retrieval-Augmented Visual Language Model for Zero and Few-Shot Image Captioning
Augmenting pretrained language models (LMs) with a vision encoder (e.g.,...
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11/15/2022
Robot Learning on the Job: Human-in-the-Loop Autonomy and Learning During Deployment
With the rapid growth of computing powers and recent advances in deep le...
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10/20/2022
Learning and Retrieval from Prior Data for Skill-based Imitation Learning
Imitation learning offers a promising path for robots to learn general-p...
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10/20/2022
VIOLA: Imitation Learning for Vision-Based Manipulation with Object Proposal Priors
We introduce VIOLA, an object-centric imitation learning approach to lea...
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09/19/2022
Learning to Walk by Steering: Perceptive Quadrupedal Locomotion in Dynamic Environments
We tackle the problem of perceptive locomotion in dynamic environments. ...
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06/27/2022
Causal Dynamics Learning for Task-Independent State Abstraction
Learning dynamics models accurately is an important goal for Model-Based...
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06/17/2022
MineDojo: Building Open-Ended Embodied Agents with Internet-Scale Knowledge
Autonomous agents have made great strides in specialist domains like Ata...
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05/27/2022
Bongard-HOI: Benchmarking Few-Shot Visual Reasoning for Human-Object Interactions
A significant gap remains between today's visual pattern recognition mod...
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05/04/2022
COOPERNAUT: End-to-End Driving with Cooperative Perception for Networked Vehicles
Optical sensors and learning algorithms for autonomous vehicles have dra...
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04/24/2022
RelViT: Concept-guided Vision Transformer for Visual Relational Reasoning
Reasoning about visual relationships is central to how humans interpret ...
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02/22/2022
Visually Grounded Task and Motion Planning for Mobile Manipulation
Task and motion planning (TAMP) algorithms aim to help robots achieve ta...
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02/03/2022
Pre-Trained Language Models for Interactive Decision-Making
Language model (LM) pre-training has proven useful for a wide variety of...
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11/15/2021
Adversarial Skill Chaining for Long-Horizon Robot Manipulation via Terminal State Regularization
Skill chaining is a promising approach for synthesizing complex behavior...
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10/27/2021
Reinforcement Learning in Factored Action Spaces using Tensor Decompositions
We present an extended abstract for the previously published work TESSER...
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10/07/2021
Augmenting Reinforcement Learning with Behavior Primitives for Diverse Manipulation Tasks
Realistic manipulation tasks require a robot to interact with an environ...
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10/02/2021
OSCAR: Data-Driven Operational Space Control for Adaptive and Robust Robot Manipulation
Learning performant robot manipulation policies can be challenging due t...
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09/28/2021
Bottom-Up Skill Discovery from Unsegmented Demonstrations for Long-Horizon Robot Manipulation
We tackle real-world long-horizon robot manipulation tasks through skill...
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07/15/2021
MultiBench: Multiscale Benchmarks for Multimodal Representation Learning
Learning multimodal representations involves integrating information fro...
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06/26/2021
Discovering Generalizable Skills via Automated Generation of Diverse Tasks
The learning efficiency and generalization ability of an intelligent age...
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06/17/2021
SECANT: Self-Expert Cloning for Zero-Shot Generalization of Visual Policies
Generalization has been a long-standing challenge for reinforcement lear...
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05/31/2021
Tesseract: Tensorised Actors for Multi-Agent Reinforcement Learning
Reinforcement Learning in large action spaces is a challenging problem. ...
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05/18/2021
Coach-Player Multi-Agent Reinforcement Learning for Dynamic Team Composition
In real-world multiagent systems, agents with different capabilities may...
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05/13/2021
DiscoBox: Weakly Supervised Instance Segmentation and Semantic Correspondence from Box Supervision
We introduce DiscoBox, a novel framework that jointly learns instance se...
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03/22/2021
Dynamic Metric Learning: Towards a Scalable Metric Space to Accommodate Multiple Semantic Scales
This paper introduces a new fundamental characteristic, , the dynamic ra...
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12/22/2020
Emergent Hand Morphology and Control from Optimizing Robust Grasps of Diverse Objects
Evolution in nature illustrates that the creatures' biological structure...
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12/14/2020
Hierarchical Planning for Long-Horizon Manipulation with Geometric and Symbolic Scene Graphs
We present a visually grounded hierarchical planning algorithm for long-...
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12/12/2020
Learning Multi-Arm Manipulation Through Collaborative Teleoperation
Imitation Learning (IL) is a powerful paradigm to teach robots to perfor...
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12/12/2020
Human-in-the-Loop Imitation Learning using Remote Teleoperation
Imitation Learning is a promising paradigm for learning complex robot ma...
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12/01/2020
Detect, Reject, Correct: Crossmodal Compensation of Corrupted Sensors
Using sensor data from multiple modalities presents an opportunity to en...
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11/17/2020
Deep Affordance Foresight: Planning Through What Can Be Done in the Future
Planning in realistic environments requires searching in large planning ...
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11/16/2020
Fast Uncertainty Quantification for Deep Object Pose Estimation
Deep learning-based object pose estimators are often unreliable and over...
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10/02/2020
Bongard-LOGO: A New Benchmark for Human-Level Concept Learning and Reasoning
Humans have an inherent ability to learn novel concepts from only a few ...
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09/25/2020
robosuite: A Modular Simulation Framework and Benchmark for Robot Learning
robosuite is a simulation framework for robot learning powered by the Mu...
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09/21/2020
Learning a Contact-Adaptive Controller for Robust, Efficient Legged Locomotion
We present a hierarchical framework that combines model-based control an...
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08/17/2020
OCEAN: Online Task Inference for Compositional Tasks with Context Adaptation
Real-world tasks often exhibit a compositional structure that contains a...
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08/04/2020
Spherical Feature Transform for Deep Metric Learning
Data augmentation in feature space is effective to increase data diversi...
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07/01/2020
Adaptive Procedural Task Generation for Hard-Exploration Problems
We introduce Adaptive Procedural Task Generation (APT-Gen), an approach ...
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11/11/2019
Scaling Robot Supervision to Hundreds of Hours with RoboTurk: Robotic Manipulation Dataset through Human Reasoning and Dexterity
Large, richly annotated datasets have accelerated progress in fields suc...
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10/29/2019
Dynamics Learning with Cascaded Variational Inference for Multi-Step Manipulation
The fundamental challenge of planning for multi-step manipulation is to ...
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10/26/2019
KETO: Learning Keypoint Representations for Tool Manipulation
We aim to develop an algorithm for robots to manipulate novel objects as...
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10/03/2019
Causal Induction from Visual Observations for Goal Directed Tasks
Causal reasoning has been an indispensable capability for humans and oth...
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09/28/2019
Regression Planning Networks
Recent learning-to-plan methods have shown promising results on planning...
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09/28/2019
Dual Sequential Monte Carlo: Tunneling Filtering and Planning in Continuous POMDPs
We present the DualSMC network that solves continuous POMDPs by learning...
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09/27/2019