Search Results - "Florence, Pete"

iNeRF: Inverting Neural Radiance Fields for Pose Estimation by Yen-Chen, Lin, Florence, Pete, Barron, Jonathan T., Rodriguez, Alberto, Isola, Phillip, Lin, Tsung-Yi

“…We present iNeRF, a framework that performs mesh-free pose estimation by "inverting" a Neural Radiance Field (NeRF). NeRFs have been shown to be remarkably…”
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Interactive Language: Talking to Robots in Real Time by Lynch, Corey, Wahid, Ayzaan, Tompson, Jonathan, Ding, Tianli, Betker, James, Baruch, Robert, Armstrong, Travis, Florence, Pete

“…We present a framework for building interactive, real-time, natural language-instructable robots in the real world, and we open source related assets (dataset,…”
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NeRF in the Palm of Your Hand: Corrective Augmentation for Robotics via Novel-View Synthesis by Zhou, Allan, Kim, Moo Jin, Wang, Lirui, Florence, Pete, Finn, Chelsea

“…Expert demonstrations are a rich source of supervision for training visual robotic manipulation policies, but imitation learning methods often require either a…”
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Trajectory Optimization with Optimization-Based Dynamics by Howell, Taylor A., Le Cleac'h, Simon, Singh, Sumeet, Florence, Pete, Manchester, Zachary, Sindhwani, Vikas

“…We present a framework for bi-level trajectory optimization in which a system's dynamics are encoded as the solution to a constrained optimization problem and…”
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Single-Level Differentiable Contact Simulation by Le Cleac'h, Simon, Schwager, Mac, Manchester, Zachary, Sindhwani, Vikas, Florence, Pete, Singh, Sumeet

“…We present a differentiable formulation of rigid-body contact dynamics for objects and robots represented as compositions of convex primitives. Classical…”
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Learning to Rearrange Deformable Cables, Fabrics, and Bags with Goal-Conditioned Transporter Networks by Seita, Daniel, Florence, Pete, Tompson, Jonathan, Coumans, Erwin, Sindhwani, Vikas, Goldberg, Ken, Zeng, Andy

“…Rearranging and manipulating deformable objects such as cables, fabrics, and bags is a long-standing challenge in robotic manipulation. The complex dynamics…”
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NeRF-Supervision: Learning Dense Object Descriptors from Neural Radiance Fields by Yen-Chen, Lin, Florence, Pete, Barron, Jonathan T., Lin, Tsung-Yi, Rodriguez, Alberto, Isola, Phillip

“…Thin, reflective objects such as forks and whisks are common in our daily lives, but they are particularly chal-lenging for robot perception because it is hard…”
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Code as Policies: Language Model Programs for Embodied Control by Liang, Jacky, Huang, Wenlong, Xia, Fei, Xu, Peng, Hausman, Karol, Ichter, Brian, Florence, Pete, Zeng, Andy

“…Large language models (LLMs) trained on code-completion have been shown to be capable of synthesizing simple Python programs from docstrings [1]. We find that…”
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VIRDO: Visio-tactile Implicit Representations of Deformable Objects by Wi, Youngsun, Florence, Pete, Zeng, Andy, Fazeli, Nima

“…Deformable object manipulation requires computationally efficient representations that are compatible with robotic sensing modalities. In this paper, we…”
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Scaling Up and Distilling Down: Language-Guided Robot Skill Acquisition by Ha, Huy, Florence, Pete, Song, Shuran

“…We present a framework for robot skill acquisition, which 1) efficiently scale up data generation of language-labelled robot data and 2) effectively distills…”
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ALOHA Unleashed: A Simple Recipe for Robot Dexterity by Zhao, Tony Z, Tompson, Jonathan, Driess, Danny, Florence, Pete, Ghasemipour, Kamyar, Finn, Chelsea, Wahid, Ayzaan

“…Recent work has shown promising results for learning end-to-end robot policies using imitation learning. In this work we address the question of how far can we…”
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VIRDO++: Real-World, Visuo-tactile Dynamics and Perception of Deformable Objects by Wi, Youngsun, Zeng, Andy, Florence, Pete, Fazeli, Nima

“…Deformable objects manipulation can benefit from representations that seamlessly integrate vision and touch while handling occlusions. In this work, we present…”
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Reinforcement Learning with Neural Radiance Fields by Driess, Danny, Schubert, Ingmar, Florence, Pete, Li, Yunzhu, Toussaint, Marc

“…It is a long-standing problem to find effective representations for training reinforcement learning (RL) agents. This paper demonstrates that learning state…”
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Implicit Kinematic Policies: Unifying Joint and Cartesian Action Spaces in End-to-End Robot Learning by Ganapathi, Aditya, Florence, Pete, Varley, Jake, Burns, Kaylee, Goldberg, Ken, Zeng, Andy

“…Action representation is an important yet often overlooked aspect in end-to-end robot learning with deep networks. Choosing one action space over another (e.g…”
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VIRDO: Visio-tactile Implicit Representations of Deformable Objects by Wi, Youngsun, Florence, Pete, Zeng, Andy, Fazeli, Nima

“…Deformable object manipulation requires computationally efficient representations that are compatible with robotic sensing modalities. In this paper, we…”
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SpatialVLM: Endowing Vision-Language Models with Spatial Reasoning Capabilities by Chen, Boyuan, Xu, Zhuo, Kirmani, Sean, Ichter, Brian, Driess, Danny, Florence, Pete, Sadigh, Dorsa, Guibas, Leonidas, Xia, Fei

“…Understanding and reasoning about spatial relationships is a fundamental capability for Visual Question Answering (VQA) and robotics. While Vision Language…”
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NeRF in the Palm of Your Hand: Corrective Augmentation for Robotics via Novel-View Synthesis by Zhou, Allan, Kim, Moo Jin, Wang, Lirui, Florence, Pete, Finn, Chelsea

“…Expert demonstrations are a rich source of supervision for training visual robotic manipulation policies, but imitation learning methods often require either a…”
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Single-Level Differentiable Contact Simulation by Cleac'h, Simon Le, Schwager, Mac, Manchester, Zachary, Sindhwani, Vikas, Florence, Pete, Singh, Sumeet

“…We present a differentiable formulation of rigid-body contact dynamics for objects and robots represented as compositions of convex primitives. Existing…”
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Interactive Language: Talking to Robots in Real Time by Lynch, Corey, Wahid, Ayzaan, Tompson, Jonathan, Ding, Tianli, Betker, James, Baruch, Robert, Armstrong, Travis, Florence, Pete

“…We present a framework for building interactive, real-time, natural language-instructable robots in the real world, and we open source related assets (dataset,…”
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Visuomotor Control in Multi-Object Scenes Using Object-Aware Representations by Heravi, Negin, Wahid, Ayzaan, Lynch, Corey, Florence, Pete, Armstrong, Travis, Tompson, Jonathan, Sermanet, Pierre, Bohg, Jeannette, Dwibedi, Debidatta

“…Perceptual understanding of the scene and the relationship between its different components is important for successful completion of robotic tasks…”
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