Search Results - "Mandlekar, Ajay"

Learning latent actions to control assistive robots by Losey, Dylan P., Jeon, Hong Jun, Li, Mengxi, Srinivasan, Krishnan, Mandlekar, Ajay, Garg, Animesh, Bohg, Jeannette, Sadigh, Dorsa

“…Assistive robot arms enable people with disabilities to conduct everyday tasks on their own. These arms are dexterous and high-dimensional ; however, the…”
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Adversarially Robust Policy Learning: Active construction of physically-plausible perturbations by Mandlekar, Ajay, Yuke Zhu, Garg, Animesh, Li Fei-Fei, Savarese, Silvio

“…Policy search methods in reinforcement learning have demonstrated success in scaling up to larger problems beyond toy examples. However, deploying these…”
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Building Robot Intelligence by Scaling Human Supervision by Mandlekar, Ajay

“…Large-scale human supervision has been at the heart of some of the most significant recent advances in domains such as computer vision and natural language…”
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Orbit: A Unified Simulation Framework for Interactive Robot Learning Environments by Mittal, Mayank, Yu, Calvin, Yu, Qinxi, Liu, Jingzhou, Rudin, Nikita, Hoeller, David, Yuan, Jia Lin, Singh, Ritvik, Guo, Yunrong, Mazhar, Hammad, Mandlekar, Ajay, Babich, Buck, State, Gavriel, Hutter, Marco, Garg, Animesh

“…We present Orbit , a unified and modular framework for robot learning powered by Nvidia Isaac Sim. It offers a modular design to easily and efficiently create…”
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Scaling Robot Supervision to Hundreds of Hours with RoboTurk: Robotic Manipulation Dataset through Human Reasoning and Dexterity by Mandlekar, Ajay, Booher, Jonathan, Spero, Max, Tung, Albert, Gupta, Anchit, Zhu, Yuke, Garg, Animesh, Savarese, Silvio, Fei-Fei, Li

“…Large, richly annotated datasets have accelerated progress in fields such as computer vision and natural language processing, but replicating these successes…”
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Multi-dimensional optimization of a terawatt seeded tapered Free Electron Laser with a Multi-Objective Genetic Algorithm by Wu, Juhao, Hu, Newman, Setiawan, Hananiel, Huang, Xiaobiao, Raubenheimer, Tor O., Jiao, Yi, Yu, George, Mandlekar, Ajay, Spampinati, Simone, Fang, Kun, Chu, Chungming, Qiang, Ji

“…There is a great interest in generating high-power hard X-ray Free Electron Laser (FEL) in the terawatt (TW) level that can enable coherent diffraction imaging…”
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Generalization Through Hand-Eye Coordination: An Action Space for Learning Spatially-Invariant Visuomotor Control by Wang, Chen, Wang, Rui, Mandlekar, Ajay, Fei-Fei, Li, Savarese, Silvio, Xu, Danfei

“…Imitation Learning (IL) is an effective framework to learn visuomotor skills from offline demonstration data. However, IL methods often fail to generalize to…”
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Active Task Randomization: Learning Robust Skills via Unsupervised Generation of Diverse and Feasible Tasks by Fang, Kuan, Migimatsu, Toki, Mandlekar, Ajay, Fei-Fei, Li, Bohg, Jeannette

“…Solving real-world manipulation tasks requires robots to be equipped with a repertoire of skills that can be applied to diverse scenarios. While learning-based…”
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IRIS: Implicit Reinforcement without Interaction at Scale for Learning Control from Offline Robot Manipulation Data by Mandlekar, Ajay, Ramos, Fabio, Boots, Byron, Savarese, Silvio, Fei-Fei, Li, Garg, Animesh, Fox, Dieter

“…Learning from offline task demonstrations is a problem of great interest in robotics. For simple short-horizon manipulation tasks with modest variation in task…”
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Multi-dimensional optimization of a terawatt seeded tapered Free Electron Laser with a Multi-Objective Genetic Algorithm by Wu, Juhao, Hu, Newman, Setiawan, Hananiel, Huang, Xiaobiao, Raubenheimer, Tor O., Jiao, Yi, Yu, George, Mandlekar, Ajay, Spampinati, Simone, Fang, Kun, Chu, Chungming, Qiang, Ji

“…There is a great interest in generating high-power hard X-ray Free Electron Laser (FEL) in the terawatt (TW) level that can enable coherent diffraction imaging…”
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Controlling Assistive Robots with Learned Latent Actions by Losey, Dylan P., Srinivasan, Krishnan, Mandlekar, Ajay, Garg, Animesh, Sadigh, Dorsa

“…Assistive robotic arms enable users with physical disabilities to perform everyday tasks without relying on a caregiver. Unfortunately, the very dexterity that…”
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SkillMimicGen: Automated Demonstration Generation for Efficient Skill Learning and Deployment by Garrett, Caelan, Mandlekar, Ajay, Wen, Bowen, Fox, Dieter

“…2024 Conference on Robot Learning (CoRL) Imitation learning from human demonstrations is an effective paradigm for robot manipulation, but acquiring large…”
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SPIRE: Synergistic Planning, Imitation, and Reinforcement Learning for Long-Horizon Manipulation by Zhou, Zihan, Garg, Animesh, Fox, Dieter, Garrett, Caelan, Mandlekar, Ajay

“…Robot learning has proven to be a general and effective technique for programming manipulators. Imitation learning is able to teach robots solely from human…”
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IntervenGen: Interventional Data Generation for Robust and Data-Efficient Robot Imitation Learning by Hoque, Ryan, Mandlekar, Ajay, Garrett, Caelan, Goldberg, Ken, Fox, Dieter

“…Imitation learning is a promising paradigm for training robot control policies, but these policies can suffer from distribution shift, where the conditions at…”
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Signatures Meet Dynamic Programming: Generalizing Bellman Equations for Trajectory Following by Ohnishi, Motoya, Akinola, Iretiayo, Xu, Jie, Mandlekar, Ajay, Ramos, Fabio

“…6th Annual Conference on Learning for Dynamics and Control (2024) Path signatures have been proposed as a powerful representation of paths that efficiently…”
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NOD-TAMP: Generalizable Long-Horizon Planning with Neural Object Descriptors by Cheng, Shuo, Garrett, Caelan, Mandlekar, Ajay, Xu, Danfei

“…Solving complex manipulation tasks in household and factory settings remains challenging due to long-horizon reasoning, fine-grained interactions, and broad…”
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Human-in-the-Loop Task and Motion Planning for Imitation Learning by Mandlekar, Ajay, Garrett, Caelan, Xu, Danfei, Fox, Dieter

“…Imitation learning from human demonstrations can teach robots complex manipulation skills, but is time-consuming and labor intensive. In contrast, Task and…”
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Deep Affordance Foresight: Planning Through What Can Be Done in the Future by Xu, Danfei, Mandlekar, Ajay, Martin-Martin, Roberto, Zhu, Yuke, Savarese, Silvio, Fei-Fei, Li

“…Planning in realistic environments requires searching in large planning spaces. Affordances are a powerful concept to simplify this search, because they model…”
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DexMimicGen: Automated Data Generation for Bimanual Dexterous Manipulation via Imitation Learning by Jiang, Zhenyu, Xie, Yuqi, Lin, Kevin, Xu, Zhenjia, Wan, Weikang, Mandlekar, Ajay, Fan, Linxi, Zhu, Yuke

“…Imitation learning from human demonstrations is an effective means to teach robots manipulation skills. But data acquisition is a major bottleneck in applying…”
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Deep Generative Models in Robotics: A Survey on Learning from Multimodal Demonstrations by Urain, Julen, Mandlekar, Ajay, Du, Yilun, Shafiullah, Mahi, Xu, Danfei, Fragkiadaki, Katerina, Chalvatzaki, Georgia, Peters, Jan

“…Learning from Demonstrations, the field that proposes to learn robot behavior models from data, is gaining popularity with the emergence of deep generative…”
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