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MILE: Model-based Intervention Learning
Imagine deploying a robot in a new environment. While it has been pre-trained in a factory, its performance is far from perfect when faced with real-world variability. Whether it’s a warehouse robot handling unexpected objects or a household assistant adapting to a cluttered kitchen, fine-tuning is often necessary to bridge the gap between training and…
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FALL-E: A Robotic Walker to Learn About Balance
Why make a walker that can trip people? In rehabilitation there has been an increase in the use of robotics for research purposes. This often takes the form of software written for commercial robots. The design of hardware systems for rehabilitation in robotics provides another avenue for studying human behavior. For assistive device users, especially,…
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ReMEmbR: Building and Reasoning Over Long-Horizon Spatio-Temporal Memory for Robot Navigation
By Abrar Anwar Robots are increasingly expected to perceive and interact with their environments over extended periods. Robots are deployed for hours, if not days, at a time and they incidentally perceive different objects, events, and locations. For robots to understand and respond to questions that require complex multi-step reasoning in scenarios where the robot has…
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VoxAct-B: Voxel-Based Acting and Stabilizing Policy for Bimanual Manipulation
By I-Chun Arthur Liu Bimanual manipulation is essential for robots to manipulate objects as well as humans. It becomes necessary when objects are too large to be controlled by one hand or when using one hand to stabilize an object makes it easier for the other hand to manipulate it. In this work, we focus…
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ViSaRL: Saliency-Guided Visual Representations for Robot Learning
By Anthony Liang Teaching robots to perform complex control tasks from high-dimensional image inputs is a nontrivial problem. State-of-the-art methods require hundreds of manually collected expert demonstrations or hours to days of training in simulation to learn a simple pick-and-place skill. One reason for this is that images are cluttered with distractions for robots, such…