Search Results - "Varley, Jake"

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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Visual Backtracking Teleoperation: A Data Collection Protocol for Offline Image-Based Reinforcement Learning by Brandfonbrener, David, Tu, Stephen, Singh, Avi, Welker, Stefan, Boodoo, Chad, Matni, Nikolai, Varley, Jake

“…We consider how to most efficiently leverage teleoperator time to collect data for learning robust image-based value functions and policies for sparse reward…”
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Embodied AI with Two Arms: Zero-shot Learning, Safety and Modularity by Varley, Jake, Singh, Sumeet, Jain, Deepali, Choromanski, Krzysztof, Zeng, Andy, Chowdhury, Somnath Basu Roy, Dubey, Avinava, Sindhwani, Vikas

“…We present an embodied AI system which receives open-ended natural language instructions from a human, and controls two arms to collaboratively accomplish…”
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Visual Backtracking Teleoperation: A Data Collection Protocol for Offline Image-Based Reinforcement Learning by Brandfonbrener, David, Tu, Stephen, Singh, Avi, Welker, Stefan, Boodoo, Chad, Matni, Nikolai, Varley, Jake

“…We consider how to most efficiently leverage teleoperator time to collect data for learning robust image-based value functions and policies for sparse reward…”
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Teleoperator Imitation with Continuous-time Safety by Khadir, Bachir El, Varley, Jake, Sindhwani, Vikas

“…Learning to effectively imitate human teleoperators, with generalization to unseen and dynamic environments, is a promising path to greater autonomy enabling…”
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SARA-RT: Scaling up Robotics Transformers with Self-Adaptive Robust Attention by Leal, Isabel, Choromanski, Krzysztof, Jain, Deepali, Dubey, Avinava, Varley, Jake, Ryoo, Michael, Lu, Yao, Liu, Frederick, Sindhwani, Vikas, Vuong, Quan, Sarlos, Tamas, Oslund, Ken, Hausman, Karol, Rao, Kanishka

“…We present Self-Adaptive Robust Attention for Robotics Transformers (SARA-RT): a new paradigm for addressing the emerging challenge of scaling up Robotics…”
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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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SARA-RT: Scaling up Robotics Transformers with Self-Adaptive Robust Attention by Leal, Isabel, Choromanski, Krzysztof, Jain, Deepali, Dubey, Avinava, Varley, Jake, Ryoo, Michael, Lu, Yao, Liu, Frederick, Sindhwani, Vikas, Vuong, Quan, Sarlos, Tamas, Oslund, Ken, Hausman, Karol, Rao, Kanishka

“…We present Self-Adaptive Robust Attention for Robotics Transformers (SARA-RT): a new paradigm for addressing the emerging challenge of scaling up Robotics…”
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How to Prompt Your Robot: A PromptBook for Manipulation Skills with Code as Policies by Arenas, Montserrat Gonzalez, Xiao, Ted, Singh, Sumeet, Jain, Vidhi, Ren, Allen, Vuong, Quan, Varley, Jake, Herzog, Alexander, Leal, Isabel, Kirmani, Sean, Prats, Mario, Sadigh, Dorsa, Sindhwani, Vikas, Rao, Kanishka, Liang, Jacky, Zeng, Andy

“…Large Language Models (LLMs) have demonstrated the ability to perform semantic reasoning, planning and write code for robotics tasks. However, most methods…”
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Robots That Ask For Help: Uncertainty Alignment for Large Language Model Planners by Ren, Allen Z, Dixit, Anushri, Bodrova, Alexandra, Singh, Sumeet, Tu, Stephen, Brown, Noah, Xu, Peng, Takayama, Leila, Xia, Fei, Varley, Jake, Xu, Zhenjia, Sadigh, Dorsa, Zeng, Andy, Majumdar, Anirudha

“…Large language models (LLMs) exhibit a wide range of promising capabilities -- from step-by-step planning to commonsense reasoning -- that may provide utility…”
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Task level hierarchical system for BCI-enabled shared autonomy by Akinola, Iretiayo, Boyuan Chen, Koss, Jonathan, Patankar, Aalhad, Varley, Jake, Allen, Peter

“…This paper describes a novel hierarchical system for shared control of a humanoid robot. Our framework uses a low-bandwidth Brain Computer Interface (BCI) to…”
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Learning Model Predictive Controllers with Real-Time Attention for Real-World Navigation by Xiao, Xuesu, Zhang, Tingnan, Choromanski, Krzysztof, Lee, Edward, Francis, Anthony, Varley, Jake, Tu, Stephen, Singh, Sumeet, Xu, Peng, Xia, Fei, Persson, Sven Mikael, Kalashnikov, Dmitry, Takayama, Leila, Frostig, Roy, Tan, Jie, Parada, Carolina, Sindhwani, Vikas

“…Despite decades of research, existing navigation systems still face real-world challenges when deployed in the wild, e.g., in cluttered home environments or in…”
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Hybrid Random Features by Choromanski, Krzysztof, Chen, Haoxian, Lin, Han, Ma, Yuanzhe, Sehanobish, Arijit, Jain, Deepali, Ryoo, Michael S, Varley, Jake, Zeng, Andy, Likhosherstov, Valerii, Kalashnikov, Dmitry, Sindhwani, Vikas, Weller, Adrian

“…We propose a new class of random feature methods for linearizing softmax and Gaussian kernels called hybrid random features (HRFs) that automatically adapt the…”
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Actionable Models: Unsupervised Offline Reinforcement Learning of Robotic Skills by Chebotar, Yevgen, Hausman, Karol, Lu, Yao, Xiao, Ted, Kalashnikov, Dmitry, Varley, Jake, Irpan, Alex, Eysenbach, Benjamin, Julian, Ryan, Finn, Chelsea, Levine, Sergey

“…We consider the problem of learning useful robotic skills from previously collected offline data without access to manually specified rewards or additional…”
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Time Dependence in Non-Autonomous Neural ODEs by Davis, Jared Quincy, Choromanski, Krzysztof, Varley, Jake, Lee, Honglak, Slotine, Jean-Jacques, Likhosterov, Valerii, Weller, Adrian, Makadia, Ameesh, Sindhwani, Vikas

“…Neural Ordinary Differential Equations (ODEs) are elegant reinterpretations of deep networks where continuous time can replace the discrete notion of depth,…”
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