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SkillGen: Automated Demonstration Generation for Efficient Skill Learning and Deployment

Caelan Garrett, Ajay Mandlekar, Bowen Wen, Dieter Fox

SPIRE: Synergistic Planning, Imitation, and Reinforcement for Long-Horizon Manipulation

Zihan Zhao, Animesh Garg, Dieter Fox, Caelan Garrett, Ajay Mandlekar* and

Workshop on Mastering Robot Manipulation in a World of Abundant Data

Angela P. Schoellig, Animesh Garg, Karime Pereida, Oier Mees, Ralf Römer, Martin Schuck, SiQi Zhou

DiMSam: Diffusion Models as Samplers for Task and Motion Planning under Partial Observability

Xiaolin Fang, Caelan Reed Garrett, Clemens Eppner, Tomás Lozano-Pérez, Leslie Pack Kaelbling, Dieter Fox

Fast Explicit-Input Assistance for Teleoperation in Clutter

Nick Walker, Xuning Yang, Animesh Garg, Maya Cakmak, Dieter Fox, Claudia Pérez D’Arpino

Interventional Data Generation for Robust and Data-Efficient Robot Imitation Learning

Ryan Hoque, Ajay Mandlekar, Caelan Garrett, Ken Goldberg, Dieter Fox

Learning for Kinodynamic Tree Expansion

Tin Lai, Weiming Zhi, Tucker Hermans, Fabio Ramos

One-Shot Transfer of Long-Horizon Extrinsic Manipulation Through Contact Retargeting

Albert Wu, Sirui Chen, Ruocheng Wang, Clemens Eppner, Karen Liu

Proto-CLIP: Vision-Language Prototypical Network for Few-Shot Learning

Jishnu Jaykumar P, Kamalesh Palanisamy, Yu-Wei Chao, Xinya Du, Yu Xiang

Stein Movement Primitives for Adaptive Multi-Modal Trajectory Generation

Zeya Yin, Tin Lai, Subhan Khan, Jayadeep Jacob, Yonghui Li, Fabio Ramos