no code implementations • 2 Nov 2023 • Huang Huang, Satvik Sharma, Antonio Loquercio, Anastasios Angelopoulos, Ken Goldberg, Jitendra Malik
The key idea is the design of switching policies that can take conformal quantiles as input, which we define as conformal policy learning, that allows robots to detect distribution shifts with formal statistical guarantees.
no code implementations • 14 Sep 2023 • Adam Rashid, Satvik Sharma, Chung Min Kim, Justin Kerr, Lawrence Chen, Angjoo Kanazawa, Ken Goldberg
Instead, we propose LERF-TOGO, Language Embedded Radiance Fields for Task-Oriented Grasping of Objects, which uses vision-language models zero-shot to output a grasp distribution over an object given a natural language query.
no code implementations • 13 Oct 2022 • Wisdom C. Agboh, Satvik Sharma, Kishore Srinivas, Mallika Parulekar, Gaurav Datta, Tianshuang Qiu, Jeffrey Ichnowski, Eugen Solowjow, Mehmet Dogar, Ken Goldberg
In physical experiments, we find a 13. 7% increase in success rate, a 1. 6x increase in picks per hour, and a 6. 3x decrease in grasp planning time compared to prior work on multi-object grasping.
no code implementations • 26 Sep 2022 • Simeon Adebola, Satvik Sharma, Kaushik Shivakumar
In this work, we present Diverse Ensembles for Fast Transfer in RL (DEFT), a new ensemble-based method for reinforcement learning in highly multimodal environments and improved transfer to unseen environments.
no code implementations • 22 Aug 2022 • Mark Presten, Rishi Parikh, Shrey Aeron, Sandeep Mukherjee, Simeon Adebola, Satvik Sharma, Mark Theis, Walter Teitelbaum, Ken Goldberg
Using an overhead camera to collect data from a physical scale garden testbed, the autonomous system utilizes a learned Plant Phenotyping convolutional neural network and a Bounding Disk Tracking algorithm to evaluate the individual plant distribution and estimate the state of the garden each day.
1 code implementation • 29 Jun 2022 • Ryan Hoque, Lawrence Yunliang Chen, Satvik Sharma, Karthik Dharmarajan, Brijen Thananjeyan, Pieter Abbeel, Ken Goldberg
With continual learning, interventions from the remote pool of humans can also be used to improve the robot fleet control policy over time.
1 code implementation • 11 Nov 2021 • Mark Presten, Yahav Avigal, Mark Theis, Satvik Sharma, Rishi Parikh, Shrey Aeron, Sandeep Mukherjee, Sebastian Oehme, Simeon Adebola, Walter Teitelbaum, Varun Kamat, Ken Goldberg
This paper presents AlphaGarden: an autonomous polyculture garden that prunes and irrigates living plants in a 1. 5m x 3. 0m physical testbed.
no code implementations • 11 Jun 2021 • Zaynah Javed, Daniel S. Brown, Satvik Sharma, Jerry Zhu, Ashwin Balakrishna, Marek Petrik, Anca D. Dragan, Ken Goldberg
Results suggest that PG-BROIL can produce a family of behaviors ranging from risk-neutral to risk-averse and outperforms state-of-the-art imitation learning algorithms when learning from ambiguous demonstrations by hedging against uncertainty, rather than seeking to uniquely identify the demonstrator's reward function.