Zobrazeno 1 - 10
of 27
pro vyhledávání: '"Ren, Allen"'
Vision-language-action (VLA) models trained on large-scale internet data and robot demonstrations have the potential to serve as generalist robot policies. However, despite their large-scale training, VLAs are often brittle to task-irrelevant visual
Externí odkaz:
http://arxiv.org/abs/2410.01971
Autor:
Ren, Allen Z., Lidard, Justin, Ankile, Lars L., Simeonov, Anthony, Agrawal, Pulkit, Majumdar, Anirudha, Burchfiel, Benjamin, Dai, Hongkai, Simchowitz, Max
We introduce Diffusion Policy Policy Optimization, DPPO, an algorithmic framework including best practices for fine-tuning diffusion-based policies (e.g. Diffusion Policy) in continuous control and robot learning tasks using the policy gradient (PG)
Externí odkaz:
http://arxiv.org/abs/2409.00588
Autor:
Ren, Allen Z., Clark, Jaden, Dixit, Anushri, Itkina, Masha, Majumdar, Anirudha, Sadigh, Dorsa
We consider the problem of Embodied Question Answering (EQA), which refers to settings where an embodied agent such as a robot needs to actively explore an environment to gather information until it is confident about the answer to a question. In thi
Externí odkaz:
http://arxiv.org/abs/2403.15941
Autor:
Dixit, Anushri, Mei, Zhiting, Booker, Meghan, Storey-Matsutani, Mariko, Ren, Allen Z., Majumdar, Anirudha
Rapid advances in perception have enabled large pre-trained models to be used out of the box for transforming high-dimensional, noisy, and partial observations of the world into rich occupancy representations. However, the reliability of these models
Externí odkaz:
http://arxiv.org/abs/2403.08185
Autor:
Liang, Jacky, Xia, Fei, Yu, Wenhao, Zeng, Andy, Arenas, Montserrat Gonzalez, Attarian, Maria, Bauza, Maria, Bennice, Matthew, Bewley, Alex, Dostmohamed, Adil, Fu, Chuyuan Kelly, Gileadi, Nimrod, Giustina, Marissa, Gopalakrishnan, Keerthana, Hasenclever, Leonard, Humplik, Jan, Hsu, Jasmine, Joshi, Nikhil, Jyenis, Ben, Kew, Chase, Kirmani, Sean, Lee, Tsang-Wei Edward, Lee, Kuang-Huei, Michaely, Assaf Hurwitz, Moore, Joss, Oslund, Ken, Rao, Dushyant, Ren, Allen, Tabanpour, Baruch, Vuong, Quan, Wahid, Ayzaan, Xiao, Ted, Xu, Ying, Zhuang, Vincent, Xu, Peng, Frey, Erik, Caluwaerts, Ken, Zhang, Tingnan, Ichter, Brian, Tompson, Jonathan, Takayama, Leila, Vanhoucke, Vincent, Shafran, Izhak, Mataric, Maja, Sadigh, Dorsa, Heess, Nicolas, Rao, Kanishka, Stewart, Nik, Tan, Jie, Parada, Carolina
Large language models (LLMs) have been shown to exhibit a wide range of capabilities, such as writing robot code from language commands -- enabling non-experts to direct robot behaviors, modify them based on feedback, or compose them to perform new t
Externí odkaz:
http://arxiv.org/abs/2402.11450
Autor:
Ren, Allen Z., Dixit, Anushri, Bodrova, Alexandra, Singh, Sumeet, Tu, Stephen, Brown, Noah, Xu, Peng, Takayama, Leila, Xia, Fei, Varley, Jake, Xu, Zhenjia, Sadigh, Dorsa, Zeng, Andy, Majumdar, Anirudha
Large language models (LLMs) exhibit a wide range of promising capabilities -- from step-by-step planning to commonsense reasoning -- that may provide utility for robots, but remain prone to confidently hallucinated predictions. In this work, we pres
Externí odkaz:
http://arxiv.org/abs/2307.01928
Autor:
Ding, Zihan, Chen, Yuanpei, Ren, Allen Z., Gu, Shixiang Shane, Wang, Qianxu, Dong, Hao, Jin, Chi
Generating human-like behavior on robots is a great challenge especially in dexterous manipulation tasks with robotic hands. Scripting policies from scratch is intractable due to the high-dimensional control space, and training policies with reinforc
Externí odkaz:
http://arxiv.org/abs/2304.04602
Simulation parameter settings such as contact models and object geometry approximations are critical to training robust robotic policies capable of transferring from simulation to real-world deployment. Previous approaches typically handcraft distrib
Externí odkaz:
http://arxiv.org/abs/2302.04903
Autor:
Simon, Nathaniel, Ren, Allen Z., Piqué, Alexander, Snyder, David, Barretto, Daphne, Hultmark, Marcus, Majumdar, Anirudha
Unmanned aerial vehicles (UAVs) are finding use in applications that place increasing emphasis on robustness to external disturbances including extreme wind. However, traditional multirotor UAV platforms do not directly sense wind; conventional flow
Externí odkaz:
http://arxiv.org/abs/2210.05857
Robust and generalized tool manipulation requires an understanding of the properties and affordances of different tools. We investigate whether linguistic information about a tool (e.g., its geometry, common uses) can help control policies adapt fast
Externí odkaz:
http://arxiv.org/abs/2206.13074