8 accepted papers
In this work, we present Transitive Reinforcement Learning (TRL), a new value learning algorithm based on a divide-and-conquer paradigm. TRL is designed for offline goal-conditioned reinforcement learning (GCRL) problems, where the aim is to find a policy that can reach any state from any other stat…
Scalable and reproducible policy evaluation has been a long-standing challenge in robot learning: evaluations are critical to assess progress and build better policies, but evaluation in the real world, especially at a scale that would provide statistically reliable results, is costly in terms of hu…
Comprehensive, unbiased, and comparable evaluation of modern generalist policies is uniquely challenging: existing approaches for robot benchmarking typically rely on heavy standardization, either by specifying fixed evaluation tasks and environments, or by hosting centralized "robot challenges", an…
Intelligent robots capable of improving from autonomously collected experience have the potential to transform robot learning: instead of collecting costly teleoperated demonstration data, large-scale deployment of fleets of robots can quickly collect larger quantities of autonomous data useful for…
In-context learning can improve the performances of knowledge-rich tasks such as question answering. In such scenarios, in-context examples trigger a language model (LM) to surface information stored in its parametric knowledge. We study how to better construct in-context example sets, based on whet…
If generalist robots are to operate in truly unstructured environments, they need to be able to recognize and reason about novel objects and scenarios. Such objects and scenarios might not be present in the robot’s own training data. We propose SuSIE, a method that leverages an image-editing diffusi…
Accurate control of robots at high speeds requires a control system that can take into account the kinodynamic interactions of the robot with the environment. Prior works on learning inverse kinodynamic (IKD) models of robots have shown success in capturing the complex kinodynamic effects. However,…
One of the key challenges in high-speed off-road navigation on ground vehicles is that the kinodynamics of the vehicle-terrain interaction can differ dramatically depending on the terrain. Previous approaches to addressing this challenge have considered learning an inverse kinodynamics (IKD) model,…