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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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07/10/2023
Large Language Models as General Pattern Machines
We observe that pre-trained large language models (LLMs) are capable of ...
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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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03/06/2023
PaLM-E: An Embodied Multimodal Language Model
Large language models excel at a wide range of complex tasks. However, e...
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03/01/2023
Grounded Decoding: Guiding Text Generation with Grounded Models for Robot Control
Recent progress in large language models (LLMs) has demonstrated the abi...
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02/24/2023
From Occlusion to Insight: Object Search in Semantic Shelves using Large Language Models
How can a robot efficiently extract a desired object from a shelf when i...
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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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09/16/2022
Code as Policies: Language Model Programs for Embodied Control
Large language models (LLMs) trained on code completion have been shown ...
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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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07/10/2022
LM-Nav: Robotic Navigation with Large Pre-Trained Models of Language, Vision, and Action
Goal-conditioned policies for robotic navigation can be trained on large...
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07/05/2022
Mechanical Search on Shelves with Efficient Stacking and Destacking of Objects
Stacking increases storage efficiency in shelves, but the lack of visibi...
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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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01/22/2022
Mechanical Search on Shelves using a Novel "Bluction" Tool
Shelves are common in homes, warehouses, and commercial settings due to ...
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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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09/15/2021
Multi-Task Learning with Sequence-Conditioned Transporter Networks
Enabling robots to solve multiple manipulation tasks has a wide range of...
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09/02/2021
Learning Language-Conditioned Robot Behavior from Offline Data and Crowd-Sourced Annotation
We study the problem of learning a range of vision-based manipulation ta...
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10/13/2020
Broadly-Exploring, Local-Policy Trees for Long-Horizon Task Planning
Long-horizon planning in realistic environments requires the ability to ...
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07/29/2020
Learning Object-conditioned Exploration using Distributed Soft Actor Critic
Object navigation is defined as navigating to an object of a given label...
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03/15/2020
Cooperation without Coordination: Hierarchical Predictive Planning for Decentralized Multiagent Navigation
Decentralized multiagent planning raises many challenges, such as adapti...
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10/14/2019
Neural Collision Clearance Estimator for Fast Robot Motion Planning
Collision checking is a well known bottleneck in sampling-based motion p...
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10/08/2019
Learned Critical Probabilistic Roadmaps for Robotic Motion Planning
Sampling-based motion planning techniques have emerged as an efficient a...
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09/27/2019
Zero-shot Imitation Learning from Demonstrations for Legged Robot Visual Navigation
Imitation learning is a popular approach for training effective visual n...
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07/26/2018