Search Results for author: Suneel Belkhale

Found 6 papers, 2 papers with code

RT-H: Action Hierarchies Using Language

no code implementations4 Mar 2024 Suneel Belkhale, Tianli Ding, Ted Xiao, Pierre Sermanet, Quon Vuong, Jonathan Tompson, Yevgen Chebotar, Debidatta Dwibedi, Dorsa Sadigh

Predicting these language motions as an intermediate step between tasks and actions forces the policy to learn the shared structure of low-level motions across seemingly disparate tasks.

Imitation Learning

KITE: Keypoint-Conditioned Policies for Semantic Manipulation

no code implementations29 Jun 2023 Priya Sundaresan, Suneel Belkhale, Dorsa Sadigh, Jeannette Bohg

While natural language offers a convenient shared interface for humans and robots, enabling robots to interpret and follow language commands remains a longstanding challenge in manipulation.

Instruction Following Object

Learning Visuo-Haptic Skewering Strategies for Robot-Assisted Feeding

no code implementations26 Nov 2022 Priya Sundaresan, Suneel Belkhale, Dorsa Sadigh

Acquiring food items with a fork poses an immense challenge to a robot-assisted feeding system, due to the wide range of material properties and visual appearances present across food groups.

Learning Bimanual Scooping Policies for Food Acquisition

no code implementations26 Nov 2022 Jennifer Grannen, Yilin Wu, Suneel Belkhale, Dorsa Sadigh

In order to acquire foods with such diverse properties, we propose stabilizing food items during scooping using a second arm, for example, by pushing peas against the spoon with a flat surface to prevent dispersion.

Model-Based Meta-Reinforcement Learning for Flight with Suspended Payloads

2 code implementations23 Apr 2020 Suneel Belkhale, Rachel Li, Gregory Kahn, Rowan Mcallister, Roberto Calandra, Sergey Levine

Our experiments demonstrate that our online adaptation approach outperforms non-adaptive methods on a series of challenging suspended payload transportation tasks.

Meta-Learning Meta Reinforcement Learning +2

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