DEFT: Dexterous Fine-Tuning for Hand Policies
Aditya Kannan, Kenneth Shaw, Shikhar Bahl, Pragna Mannam, Deepak Pathak
Understanding Reward Ambiguity Through Optimal Transport Theory in Inverse Reinforcement Learning
Ali Baheri
PlayFusion: Skill Acquisition via Diffusion from Language-Annotated Play
Lili Chen, Shikhar Bahl, Deepak Pathak
CCPO: Constraint-Conditioned Policy Optimization for Versatile Safe Reinforcement Learning
Yihang Yao, Zuxin Liu, Zhepeng Cen, Jiacheng Zhu, Wenhao Yu, Tingnan Zhang, Ding Zhao
Interventional Data Generation for Robust and Data-Efficient Robot Imitation Learning
Ryan Hoque, Ajay Mandlekar, Caelan Reed Garrett, Ken Goldberg, Dieter Fox
EquivAct: SIM(3)-Equivariant Visuomotor Policies beyond Rigid Object Manipulation
Jingyun Yang, Congyue Deng, Jimmy Wu, Rika Antonova, Leonidas Guibas, Jeannette Bohg
InSpaceType: Reconsider Space Type in Indoor Monocular Depth Estimation Analysis
Cho-Ying Wu, Quankai Gao, Chin-Cheng Hsu, Te-Lin Wu, Jing-Wen Chen, Ulrich Neumann
LIBERO: Benchmarking Knowledge Transfer for Lifelong Robot Learning
Bo Liu, Yifeng Zhu, Chongkai Gao, Yihao Feng, qiang liu, Yuke Zhu, Peter Stone
CCIL: Continuity-Based Data Augmentation for Corrective Imitation Learning
Liyiming Ke, Yunchu Zhang, Abhay Deshpande, Siddhartha Srinivasa, Abhishek Gupta
Critical Sampling for Data-Driven Modeling of Unknown Dynamical Systems
Ce Zhang, Siqi Wu, Zhihai He, Zhao Joy Sun
Towards OOD Robustness in Human-Robot Interactions via the Natural-Adversarial Frontier
Jerry Zhi-Yang He, Eli Bronstein, Anca Dragan
Epistemic Uncertainty in State Estimation and Belief Space Planning with Learning-Based Perception Systems
Keiko Nagami, Mac Schwager
Uncertainty Aware Deployment of Pre-trained Task Conditioned Imitation Learning Policies
Bo Wu, Bruce D Lee, Bernadette Bucher, Nikolai Matni
Drive Anywhere: Generalizable End-to-end Autonomous Driving with Multi-modal Foundation Models
Tsun-Hsuan Wang, Alaa Maalouf, Wei Xiao, Yutong Ban, Alexander Amini, Guy Rosman, Sertac Karaman, Daniela Rus
Adapting Visual Policies via Predicted Rewards
Weiyao Wang, Xinyuan Fang, Gregory D. Hager
Full-Distribution Generalization Bounds for Imitation Learning Policies
Joseph A Vincent, Haruki Nishimura, Masha Itkina, Mac Schwager
Robotic Task Generalization via Hindsight Trajectory Sketches
Jiayuan Gu, Sean Kirmani, Paul Wohlhart, Yao Lu, Montserrat Gonzalez Arenas, Kanishka Rao, Wenhao Yu, Chuyuan Fu, Keerthana Gopalakrishnan, Zhuo Xu, Priya Sundaresan, Peng Xu, Hao Su, Karol Hausman, Chelsea Finn, Quan Vuong, Ted Xiao
GANOCS: Domain Adaptation of Normalized Object Coordinate Prediction Using Generative Adversarial Training
Bahaa Aldeeb, Sahith Reddy Chada, Karthik Desingh
When Learning Is Out of Reach, Reset: Generalization in Autonomous Visuomotor Reinforcement Learning
Zichen Zhang, Luca Weihs
NoMaD: Goal Masked Diffusion Policies for Navigation and Exploration
Ajay Sridhar, Dhruv Shah, Catherine Glossop, Sergey Levine
RoboAgent: Generalization and Efficiency in Robot Manipulation via Semantic Augmentations and Action Chunking
Homanga Bharadhwaj, Jay Vakil, Mohit Sharma, Abhinav Gupta, Shubham Tulsiani, Vikash Kumar
Enhancing Multi-Agent Coordination through Common Operating Picture Integration
Peihong Yu, Bhoram Lee, Aswin Raghavan, Supun Samarasekera, Pratap Tokekar, James Zachary Hare
Self-Supervised Model Generalization using Out-of-Distribution Detection
Matt Foutter, Rohan Sinha, Somrita Banerjee, Marco Pavone
Generalized Behavior Learning from Diverse Demonstrations
Varshith Sreeramdass, Rohan R Paleja, Letian Chen, Sanne van Waveren, Matthew Gombolay
To Ask or Not To Ask: Robot-assisted Bite Acquisition with Human-in-the-loop Contextual Bandits
Rohan Banerjee, Sarah Dean, Tapomayukh Bhattacharjee