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pro vyhledávání: '"Gupta, Abhinav"'
Although pre-training on a large amount of data is beneficial for robot learning, current paradigms only perform large-scale pretraining for visual representations, whereas representations for other modalities are trained from scratch. In contrast to
Externí odkaz:
http://arxiv.org/abs/2405.08576
Track2Act: Predicting Point Tracks from Internet Videos enables Diverse Zero-shot Robot Manipulation
We seek to learn a generalizable goal-conditioned policy that enables zero-shot robot manipulation: interacting with unseen objects in novel scenes without test-time adaptation. While typical approaches rely on a large amount of demonstration data fo
Externí odkaz:
http://arxiv.org/abs/2405.01527
Autor:
Gupta, Abhinav, Bartos, Radim
HTTP/3, the latest evolution of the Hypertext Transfer Protocol, utilizes QUIC, a new transport protocol leveraging UDP to overcome limitations such as connection time and head-of-line blocking prevalent in HTTP/2. This advancement is enhanced by the
Externí odkaz:
http://arxiv.org/abs/2404.17439
Autor:
Gupta, Abhinav, Bartos, Radim
HTTP/3 marks a significant advancement in protocol development, utilizing QUIC as its underlying transport layer to exploit multiplexing capabilities and minimize head-of-line blocking. The introduction of the Extensible Prioritization Scheme (EPS) o
Externí odkaz:
http://arxiv.org/abs/2404.13460
We propose G-HOP, a denoising diffusion based generative prior for hand-object interactions that allows modeling both the 3D object and a human hand, conditioned on the object category. To learn a 3D spatial diffusion model that can capture this join
Externí odkaz:
http://arxiv.org/abs/2404.12383
Autor:
Khazatsky, Alexander, Pertsch, Karl, Nair, Suraj, Balakrishna, Ashwin, Dasari, Sudeep, Karamcheti, Siddharth, Nasiriany, Soroush, Srirama, Mohan Kumar, Chen, Lawrence Yunliang, Ellis, Kirsty, Fagan, Peter David, Hejna, Joey, Itkina, Masha, Lepert, Marion, Ma, Yecheng Jason, Miller, Patrick Tree, Wu, Jimmy, Belkhale, Suneel, Dass, Shivin, Ha, Huy, Jain, Arhan, Lee, Abraham, Lee, Youngwoon, Memmel, Marius, Park, Sungjae, Radosavovic, Ilija, Wang, Kaiyuan, Zhan, Albert, Black, Kevin, Chi, Cheng, Hatch, Kyle Beltran, Lin, Shan, Lu, Jingpei, Mercat, Jean, Rehman, Abdul, Sanketi, Pannag R, Sharma, Archit, Simpson, Cody, Vuong, Quan, Walke, Homer Rich, Wulfe, Blake, Xiao, Ted, Yang, Jonathan Heewon, Yavary, Arefeh, Zhao, Tony Z., Agia, Christopher, Baijal, Rohan, Castro, Mateo Guaman, Chen, Daphne, Chen, Qiuyu, Chung, Trinity, Drake, Jaimyn, Foster, Ethan Paul, Gao, Jensen, Herrera, David Antonio, Heo, Minho, Hsu, Kyle, Hu, Jiaheng, Jackson, Donovon, Le, Charlotte, Li, Yunshuang, Lin, Kevin, Lin, Roy, Ma, Zehan, Maddukuri, Abhiram, Mirchandani, Suvir, Morton, Daniel, Nguyen, Tony, O'Neill, Abigail, Scalise, Rosario, Seale, Derick, Son, Victor, Tian, Stephen, Tran, Emi, Wang, Andrew E., Wu, Yilin, Xie, Annie, Yang, Jingyun, Yin, Patrick, Zhang, Yunchu, Bastani, Osbert, Berseth, Glen, Bohg, Jeannette, Goldberg, Ken, Gupta, Abhinav, Gupta, Abhishek, Jayaraman, Dinesh, Lim, Joseph J, Malik, Jitendra, Martín-Martín, Roberto, Ramamoorthy, Subramanian, Sadigh, Dorsa, Song, Shuran, Wu, Jiajun, Yip, Michael C., Zhu, Yuke, Kollar, Thomas, Levine, Sergey, Finn, Chelsea
The creation of large, diverse, high-quality robot manipulation datasets is an important stepping stone on the path toward more capable and robust robotic manipulation policies. However, creating such datasets is challenging: collecting robot manipul
Externí odkaz:
http://arxiv.org/abs/2403.12945
Autor:
Gupta, Abhinav, Bartos, Radim
With the introduction of QUIC, a modern transport-layer network protocol, HTTP/3 leverages its benefits to enhance web content delivery. This paper proposes a mechanism based on the recently standardized Extensible Prioritization Scheme (EPS) for wei
Externí odkaz:
http://arxiv.org/abs/2403.04074
Autor:
Bhirangi, Raunaq, Wang, Chenyu, Pattabiraman, Venkatesh, Majidi, Carmel, Gupta, Abhinav, Hellebrekers, Tess, Pinto, Lerrel
Reasoning from sequences of raw sensory data is a ubiquitous problem across fields ranging from medical devices to robotics. These problems often involve using long sequences of raw sensor data (e.g. magnetometers, piezoresistors) to predict sequence
Externí odkaz:
http://arxiv.org/abs/2402.10211
We pursue the goal of developing robots that can interact zero-shot with generic unseen objects via a diverse repertoire of manipulation skills and show how passive human videos can serve as a rich source of data for learning such generalist robots.
Externí odkaz:
http://arxiv.org/abs/2312.00775
In the recent progress in embodied navigation and sim-to-robot transfer, modular policies have emerged as a de facto framework. However, there is more to compositionality beyond the decomposition of the learning load into modular components. In this
Externí odkaz:
http://arxiv.org/abs/2311.03357