BC-Z: Zero-Shot Task Generalization with Robotic Imitation Learning

4 February 2022

Papers citing "BC-Z: Zero-Shot Task Generalization with Robotic Imitation Learning"

50 / 377 papers shown

Title
EC^2: Emergent Communication for Embodied Control Yao Mu Shunyu Yao Mingyu Ding Ping Luo Chuang Gan LM&Ro 29 19 0 19 Apr 2023
Behavior Retrieval: Few-Shot Imitation Learning by Querying Unlabeled Datasets Maximilian Du Suraj Nair Dorsa Sadigh Chelsea Finn OffRL 6 31 0 18 Apr 2023
ARNOLD: A Benchmark for Language-Grounded Task Learning With Continuous States in Realistic 3D Scenes Ran Gong Jiangyong Huang Yizhou Zhao Haoran Geng Xiaofeng Gao ... Ziheng Zhou D. Terzopoulos Song-Chun Zhu Baoxiong Jia Siyuan Huang LM&Ro 37 45 0 09 Apr 2023
ERRA: An Embodied Representation and Reasoning Architecture for Long-horizon Language-conditioned Manipulation Tasks Chao Zhao Shuai Yuan Chunli Jiang Junhao Cai Hongyu Yu M. Y. Wang Qifeng Chen LM&Ro 19 14 0 05 Apr 2023
Grounding Object Relations in Language-Conditioned Robotic Manipulation with Semantic-Spatial Reasoning Qian Luo Yunfei Li Yi Wu LM&Ro 35 5 0 31 Mar 2023
On Designing a Learning Robot: Improving Morphology for Enhanced Task Performance and Learning Maks Sorokin Chuyuan Fu Jie Tan C. Karen Liu Yunfei Bai Wenlong Lu Sehoon Ha Mohi Khansari 19 1 0 23 Mar 2023
Text2Motion: From Natural Language Instructions to Feasible Plans Kevin Qinghong Lin Christopher Agia Toki Migimatsu Marco Pavone Jeannette Bohg LM&Ro 16 265 0 21 Mar 2023
PLEX: Making the Most of the Available Data for Robotic Manipulation Pretraining G. Thomas Ching-An Cheng Ricky Loynd Felipe Vieira Frujeri Vibhav Vineet Mihai Jalobeanu Andrey Kolobov SSL 16 8 0 15 Mar 2023
Manipulate by Seeing: Creating Manipulation Controllers from Pre-Trained Representations Jianren Wang Sudeep Dasari M. K. Srirama Shubham Tulsiani Abhi Gupta SSL 53 15 0 14 Mar 2023
Foundation Models for Decision Making: Problems, Methods, and Opportunities Sherry Yang Ofir Nachum Yilun Du Jason W. Wei Pieter Abbeel Dale Schuurmans LM&Ro OffRL LRM AI4CE 90 154 0 07 Mar 2023
PaLM-E: An Embodied Multimodal Language Model Danny Driess F. Xia Mehdi S. M. Sajjadi Corey Lynch Aakanksha Chowdhery ... Marc Toussaint Klaus Greff Andy Zeng Igor Mordatch Peter R. Florence LM&Ro 22 1,562 0 06 Mar 2023
Naming Objects for Vision-and-Language Manipulation Tokuhiro Nishikawa Kazumi Aoyama Shunichi Sekiguchi Takayoshi Takayanagi Jianing Wu Yu Ishihara Tamaki Kojima Jerry Jun Yokono 27 1 0 06 Mar 2023
Self-Improving Robots: End-to-End Autonomous Visuomotor Reinforcement Learning Archit Sharma Ahmed M. Ahmed Rehaan Ahmad Chelsea Finn SSL 46 17 0 02 Mar 2023
Open-World Object Manipulation using Pre-trained Vision-Language Models Austin Stone Ted Xiao Yao Lu K. Gopalakrishnan Kuang-Huei Lee ... Sean Kirmani Brianna Zitkovich F. Xia Chelsea Finn Karol Hausman LM&Ro 142 144 0 02 Mar 2023
Grounded Decoding: Guiding Text Generation with Grounded Models for Embodied Agents Wenlong Huang Fei Xia Dhruv Shah Danny Driess Andy Zeng ... Pete Florence Igor Mordatch Sergey Levine Karol Hausman Brian Ichter LM&Ro 19 41 0 01 Mar 2023
Semantic Mechanical Search with Large Vision and Language Models Satvik Sharma Huang Huang K. Shivakumar A. Imran Ryan Hoque Brian Ichter Ken Goldberg LM&Ro VLM 14 5 0 24 Feb 2023
Scaling Robot Learning with Semantically Imagined Experience Tianhe Yu Ted Xiao Austin Stone Jonathan Tompson Anthony Brohan ... M. Dee Jodilyn Peralta Brian Ichter Karol Hausman F. Xia LM&Ro DiffM 23 142 0 22 Feb 2023
ALAN: Autonomously Exploring Robotic Agents in the Real World Russell Mendonca Shikhar Bahl Deepak Pathak LM&Ro 8 20 0 13 Feb 2023
SOCRATES: Text-based Human Search and Approach using a Robot Dog Jeongeun Park Jefferson Silveria Matthew K. X. J. Pan Sungjoon Choi 11 0 0 10 Feb 2023
One-shot Visual Imitation via Attributed Waypoints and Demonstration Augmentation Matthew Chang Saurabh Gupta 19 4 0 09 Feb 2023
Asking for Help: Failure Prediction in Behavioral Cloning through Value Approximation Cem Gokmen Daniel Ho Mohi Khansari OffRL 8 5 0 08 Feb 2023
A Data-Efficient Visual-Audio Representation with Intuitive Fine-tuning for Voice-Controlled Robots Peixin Chang Shuijing Liu Tianchen Ji Neeloy Chakraborty Kaiwen Hong Katherine Driggs-Campbell 32 3 0 23 Jan 2023
Open-World Multi-Task Control Through Goal-Aware Representation Learning and Adaptive Horizon Prediction Shaofei Cai Zihao Wang Xiaojian Ma Anji Liu Yitao Liang 40 40 0 21 Jan 2023
A Survey of Meta-Reinforcement Learning Jacob Beck Risto Vuorio E. Liu Zheng Xiong L. Zintgraf Chelsea Finn Shimon Whiteson OOD OffRL 34 121 0 19 Jan 2023
NeRF in the Palm of Your Hand: Corrective Augmentation for Robotics via Novel-View Synthesis Allan Zhou Moo Jin Kim Lirui Wang Peter R. Florence Chelsea Finn 15 48 0 18 Jan 2023
Learning Bidirectional Action-Language Translation with Limited Supervision and Incongruent Input Ozan Ozdemir Matthias Kerzel C. Weber Jae Hee Lee Muhammad Burhan Hafez P. Bruns S. Wermter 8 1 0 09 Jan 2023
"No, to the Right" -- Online Language Corrections for Robotic Manipulation via Shared Autonomy Yuchen Cui Siddharth Karamcheti Raj Palleti Nidhya Shivakumar Percy Liang Dorsa Sadigh LM&Ro 21 76 0 06 Jan 2023
On Transforming Reinforcement Learning by Transformer: The Development Trajectory Shengchao Hu Li Shen Ya-Qin Zhang Yixin Chen Dacheng Tao OffRL 23 24 0 29 Dec 2022
Interactive Task Encoding System for Learning-from-Observation Naoki Wake Atsushi Kanehira Kazuhiro Sasabuchi Jun Takamatsu Katsushi Ikeuchi 12 2 0 21 Dec 2022
Policy Adaptation from Foundation Model Feedback Yuying Ge Annabella Macaluso Erran L. Li Ping Luo Xiaolong Wang LM&Ro 14 11 0 14 Dec 2022
RT-1: Robotics Transformer for Real-World Control at Scale Anthony Brohan Noah Brown Justice Carbajal Yevgen Chebotar Joseph Dabis ... Ted Xiao Peng-Tao Xu Sichun Xu Tianhe Yu Brianna Zitkovich LM&Ro 28 1,013 0 13 Dec 2022
CACTI: A Framework for Scalable Multi-Task Multi-Scene Visual Imitation Learning Zhao Mandi Homanga Bharadhwaj Vincent Moens Shuran Song Aravind Rajeswaran Vikash Kumar LM&Ro 21 68 0 12 Dec 2022
MoDem: Accelerating Visual Model-Based Reinforcement Learning with Demonstrations Nicklas Hansen Yixin Lin H. Su Xiaolong Wang Vikash Kumar Aravind Rajeswaran OffRL 19 49 0 12 Dec 2022
Modularity through Attention: Efficient Training and Transfer of Language-Conditioned Policies for Robot Manipulation Yifan Zhou Shubham D. Sonawani Mariano Phielipp Simon Stepputtis H. B. Amor LM&Ro 11 27 0 08 Dec 2022
Is Conditional Generative Modeling all you need for Decision-Making? Anurag Ajay Yilun Du Abhi Gupta J. Tenenbaum Tommi Jaakkola Pulkit Agrawal DiffM 34 359 0 28 Nov 2022
User-Conditioned Neural Control Policies for Mobile Robotics L. Bauersfeld Elia Kaufmann Davide Scaramuzza 16 6 0 22 Nov 2022
Robotic Skill Acquisition via Instruction Augmentation with Vision-Language Models Ted Xiao Harris Chan P. Sermanet Ayzaan Wahid Anthony Brohan Karol Hausman Sergey Levine Jonathan Tompson VLM LM&Ro 25 65 0 21 Nov 2022
Token Turing Machines Michael S. Ryoo K. Gopalakrishnan Kumara Kahatapitiya Ted Xiao Kanishka Rao Austin Stone Yao Lu Julian Ibarz Anurag Arnab 27 21 0 16 Nov 2022
Learning Reward Functions for Robotic Manipulation by Observing Humans Minttu Alakuijala Gabriel Dulac-Arnold Julien Mairal Jean Ponce Cordelia Schmid OffRL 17 26 0 16 Nov 2022
Leveraging Haptic Feedback to Improve Data Quality and Quantity for Deep Imitation Learning Models Catie Cuan Allison M. Okamura Mohi Khansari 14 3 0 06 Nov 2022
Language Control Diffusion: Efficiently Scaling through Space, Time, and Tasks Edwin Zhang Yujie Lu William Wang Amy Zhang DiffM LM&Ro 24 16 0 27 Oct 2022
Instruction-Following Agents with Multimodal Transformer Hao Liu Lisa Lee Kimin Lee Pieter Abbeel LM&Ro 30 10 0 24 Oct 2022
Learning and Retrieval from Prior Data for Skill-based Imitation Learning Soroush Nasiriany Tian Gao Ajay Mandlekar Yuke Zhu SSL 39 47 0 20 Oct 2022
PI-QT-Opt: Predictive Information Improves Multi-Task Robotic Reinforcement Learning at Scale Kuang-Huei Lee Ted Xiao A. Li Paul Wohlhart Ian S. Fischer Yao Lu 43 10 0 15 Oct 2022
Eliciting Compatible Demonstrations for Multi-Human Imitation Learning Kanishk Gandhi Siddharth Karamcheti Madeline Liao Dorsa Sadigh 34 21 0 14 Oct 2022
ROS-PyBullet Interface: A Framework for Reliable Contact Simulation and Human-Robot Interaction Christopher E. Mower Theodoros Stouraitis João Moura C. Rauch Lei Yan Nazanin Zamani Behabadi Michael Gienger Tom Kamiel Magda Vercauteren Christos Bergeles S. Vijayakumar 10 20 0 13 Oct 2022
Interactive Language: Talking to Robots in Real Time Corey Lynch Ayzaan Wahid Jonathan Tompson Tianli Ding James Betker Robert Baruch Travis Armstrong Peter R. Florence LM&Ro 25 214 0 12 Oct 2022
Using Both Demonstrations and Language Instructions to Efficiently Learn Robotic Tasks Albert Yu Raymond J. Mooney LM&Ro 19 19 0 10 Oct 2022
Visual Backtracking Teleoperation: A Data Collection Protocol for Offline Image-Based Reinforcement Learning David Brandfonbrener Stephen Tu Avi Singh Stefan Welker Chad Boodoo Nikolai Matni Jacob Varley OffRL 43 10 0 05 Oct 2022
Grounding Language with Visual Affordances over Unstructured Data Oier Mees Jessica Borja-Diaz Wolfram Burgard LM&Ro 121 108 0 04 Oct 2022