no code implementations • 8 Mar 2024 • Jensen Gao, Annie Xie, Ted Xiao, Chelsea Finn, Dorsa Sadigh
Recent works on large-scale robotic data collection typically vary a wide range of environmental factors during data collection, such as object types and table textures.
no code implementations • 7 Sep 2023 • Jensen Gao, Siddharth Reddy, Glen Berseth, Anca D. Dragan, Sergey Levine
We further evaluate on a simulated Sawyer pushing task with eye gaze control, and the Lunar Lander game with simulated user commands, and find that our method improves over baseline interfaces in these domains as well.
no code implementations • 5 Sep 2023 • Jensen Gao, Bidipta Sarkar, Fei Xia, Ted Xiao, Jiajun Wu, Brian Ichter, Anirudha Majumdar, Dorsa Sadigh
We incorporate this physically grounded VLM in an interactive framework with a large language model-based robotic planner, and show improved planning performance on tasks that require reasoning about physical object concepts, compared to baselines that do not leverage physically grounded VLMs.
1 code implementation • 26 Apr 2023 • Joey Hejna, Jensen Gao, Dorsa Sadigh
To bridge the gap between IL and RL, we introduce Distance Weighted Supervised Learning or DWSL, a supervised method for learning goal-conditioned policies from offline data.
no code implementations • 4 Mar 2022 • Jensen Gao, Siddharth Reddy, Glen Berseth, Nicholas Hardy, Nikhilesh Natraj, Karunesh Ganguly, Anca D. Dragan, Sergey Levine
In the typing domain, we leverage backspaces as feedback that the interface did not perform the desired action.
no code implementations • 5 Feb 2022 • Sean Chen, Jensen Gao, Siddharth Reddy, Glen Berseth, Anca D. Dragan, Sergey Levine
Building assistive interfaces for controlling robots through arbitrary, high-dimensional, noisy inputs (e. g., webcam images of eye gaze) can be challenging, especially when it involves inferring the user's desired action in the absence of a natural 'default' interface.
no code implementations • ICLR 2021 • Jensen Gao, Siddharth Reddy, Glen Berseth, Nicholas Hardy, Nikhilesh Natraj, Karunesh Ganguly, Anca Dragan, Sergey Levine
In the typing domain, we leverage backspaces as implicit feedback that the interface did not perform the desired action.