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Imitating Task and Motion Planning with Visuomotor Transformers

Murtaza Dalal, Ajay Mandlekar, Caelan Garrett, Ankur Handa, Ruslan Salakhutdinov, Dieter Fox

Learning to Summarize and Answer Questions about a Virtual Robot's Past Actions

Chad DeChant, Iretiayo Akinola, Daniel Bauer

M2T2: Multi-task Masked Transformer for Object-centric Pick-and-Place

Wentao Yuan, Adithyavairavan Murali, Arsalan Mousavian, Dieter Fox

MimicGen: A Data Generation System for Scalable Robot Learning using Human Demonstrations

Ajay Mandlekar, Soroush Nasiriany*, Bowen Wen, Iretiayo Akinola, Yashraj Narang, Linxi Fan*, Yuke Zhu, Dieter Fox

Path Signatures for Diversity in Probabilistic Trajectory Optimisation

Lucas Barcelos, Tin Lai, Rafael Oliveira, Paulo Borges, Fabio Ramos

RVT: Robotic View Transformer for 3D Object Manipulation

Ankit Goyal, Jie Xu, Yijie Guo, Valts Blukis, Yu-Wei Chao, Dieter Fox

SCONE: A Food Scooping Robot Learning Framework with Active Perception

Yen-Ling Tai, Yu Chien Chiu, Yu-Wei Chao, Yi-Ting Chen

STOW: Discrete-Frame Segmentation and Tracking of Unseen Objects for Warehouse Picking Robots

Yi Li, Muru Zhang, Markus Grotz, Kaichun Mo, Dieter Fox

Active Task Randomization: Learning Visuomotor Skills for Sequential Manipulation by Proposing Feasible and Novel Tasks

Kuan Fang, Toki Migimatsu*, Ajay Mandlekar, Li Fei-Fei, Jeannette Bohg

COPILOT: Human Collision Prediction and Localization from Egocentric Videos

Boxiao Pan, Bokui Shen, Davis Rempe, Despoina Paschalidou, Kaichun Mo, Yanchao Yang, Leonidas Guibas