11 accepted papers
AI-based code generation is increasingly prevalent, with GitHub Copilot estimated to generate 46% of the code on GitHub. Accurately evaluating how well generated code aligns with developer intent remains a critical challenge. Traditional evaluation methods, such as unit tests, are often unscalable a
Recent advances in generative modeling have positioned diffusion models as state-of-the-art tools for sampling from complex data distributions. While these models have shown remarkable success across single-modality domains such as images and audio, extending their capabilities to *Modality Translat…
Surface grading, the process of leveling an uneven area containing pre-dumped sand piles, is an important task in the construction site pipeline. This labour-intensive process is often carried out by a bulldozer, a key machinery tool at any construction site. Current attempts to automate surface gra
Many possible fields of application of robots in real world settings hinge on the ability of robots to grasp objects. As a result, robot grasping has been an active field of research for many years. With our publication we contribute to the endeavor of enabling robots to grasp, with a particular foc…
Replay buffers are a key component in many reinforcement learning schemes. Yet, their theoretical properties are not fully understood. In this paper we analyze a system where a stochastic process X is pushed into a replay buffer and then randomly sampled to generate a stochastic process Y from the r…
Object manipulation in cluttered scenes is a difficult and important problem in robotics. To efficiently manipulate objects, it is crucial to understand their surroundings, especially in cases where multiple objects are stacked one on top of the other, preventing effective grasping. We here present…
"We propose a concise representation of videos that encode perceptually meaningful features into graphs. With this representation, we aim to leverage the large amount of redundancies in videos and save computations. First, we construct superpixel-based graph representations of videos by considering…
We address the problem of devising the means for a robot to rapidly and safely learn insertion skills with just a few human interventions and without hand-crafted rewards or demonstrations. Our InsertionNet version 2.0 provides an improved technique to robustly cope with a wide range of use-cases fe…
Surface grading is an integral part of the construction pipeline. Here, a bulldozer, which is a key machinery tool at any construction site, is required to level an uneven area containing pre-dumped sand piles. In this work, we aim to tackle the problem of autonomous surface grading on real-world sc…
Complicated assembly processes can be described as a sequence of two main activities: grasping and insertion. While general grasping solutions are common in industry, insertion is still only applicable to small subsets of problems, mainly ones involving simple shapes in fixed locations and in which
Simulation is used extensively in autonomous systems, particularly in robotic manipulation. By far, the most common approach is to train a controller in simulation, and then use it as an initial starting point for the real system. We demonstrate how to learn simultaneously from both simulation and i…