no code implementations • 4 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.
no code implementations • 29 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.
no code implementations • 26 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.
no code implementations • 26 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.
2 code implementations • 23 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.
1 code implementation • 11 Feb 2019 • Katie Kang, Suneel Belkhale, Gregory Kahn, Pieter Abbeel, Sergey Levine
Deep reinforcement learning provides a promising approach for vision-based control of real-world robots.