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07/28/2023
RT-2: Vision-Language-Action Models Transfer Web Knowledge to Robotic Control
We study how vision-language models trained on Internet-scale data can b...
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07/07/2023
Decomposing the Generalization Gap in Imitation Learning for Visual Robotic Manipulation
What makes generalization hard for imitation learning in visual robotic ...
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06/14/2023
Language to Rewards for Robotic Skill Synthesis
Large language models (LLMs) have demonstrated exciting progress in acqu...
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05/05/2023
Deep RL at Scale: Sorting Waste in Office Buildings with a Fleet of Mobile Manipulators
We describe a system for deep reinforcement learning of robotic manipula...
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03/02/2023
Open-World Object Manipulation using Pre-trained Vision-Language Models
For robots to follow instructions from people, they must be able to conn...
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02/22/2023
Scaling Robot Learning with Semantically Imagined Experience
Recent advances in robot learning have shown promise in enabling robots ...
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12/13/2022
RT-1: Robotics Transformer for Real-World Control at Scale
By transferring knowledge from large, diverse, task-agnostic datasets, m...
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11/21/2022
Robotic Skill Acquisition via Instruction Augmentation with Vision-Language Models
In recent years, much progress has been made in learning robotic manipul...
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11/16/2022
Token Turing Machines
We propose Token Turing Machines (TTM), a sequential, autoregressive Tra...
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10/15/2022
PI-QT-Opt: Predictive Information Improves Multi-Task Robotic Reinforcement Learning at Scale
The predictive information, the mutual information between the past and ...
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07/12/2022
Inner Monologue: Embodied Reasoning through Planning with Language Models
Recent works have shown how the reasoning capabilities of Large Language...
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04/05/2022
Jump-Start Reinforcement Learning
Reinforcement learning (RL) provides a theoretical framework for continu...
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04/04/2022
Do As I Can, Not As I Say: Grounding Language in Robotic Affordances
Large language models can encode a wealth of semantic knowledge about th...
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11/09/2021
AW-Opt: Learning Robotic Skills with Imitation and Reinforcement at Scale
Robotic skills can be learned via imitation learning (IL) using user-pro...
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11/04/2021
Value Function Spaces: Skill-Centric State Abstractions for Long-Horizon Reasoning
Reinforcement learning can train policies that effectively perform compl...
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04/15/2021
Actionable Models: Unsupervised Offline Reinforcement Learning of Robotic Skills
We consider the problem of learning useful robotic skills from previousl...
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04/13/2020
Thinking While Moving: Deep Reinforcement Learning with Concurrent Control
We study reinforcement learning in settings where sampling an action fro...
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03/05/2019