Search Results for author: Pete Florence

Found 9 papers, 4 papers with code

Reinforcement Learning with Neural Radiance Fields

no code implementations3 Jun 2022 Danny Driess, Ingmar Schubert, Pete Florence, Yunzhu Li, Marc Toussaint

This paper demonstrates that learning state representations with supervision from Neural Radiance Fields (NeRFs) can improve the performance of RL compared to other learned representations or even low-dimensional, hand-engineered state information.

reinforcement-learning

Visuomotor Control in Multi-Object Scenes Using Object-Aware Representations

no code implementations12 May 2022 Negin Heravi, Ayzaan Wahid, Corey Lynch, Pete Florence, Travis Armstrong, Jonathan Tompson, Pierre Sermanet, Jeannette Bohg, Debidatta Dwibedi

Our self-supervised representations are learned by observing the agent freely interacting with different parts of the environment and is queried in two different settings: (i) policy learning and (ii) object location prediction.

Object Localization Representation Learning +1

NeRF-Supervision: Learning Dense Object Descriptors from Neural Radiance Fields

no code implementations3 Mar 2022 Lin Yen-Chen, Pete Florence, Jonathan T. Barron, Tsung-Yi Lin, Alberto Rodriguez, Phillip Isola

In particular, we demonstrate that a NeRF representation of a scene can be used to train dense object descriptors.

Implicit Behavioral Cloning

4 code implementations1 Sep 2021 Pete Florence, Corey Lynch, Andy Zeng, Oscar Ramirez, Ayzaan Wahid, Laura Downs, Adrian Wong, Johnny Lee, Igor Mordatch, Jonathan Tompson

We find that across a wide range of robot policy learning scenarios, treating supervised policy learning with an implicit model generally performs better, on average, than commonly used explicit models.

XIRL: Cross-embodiment Inverse Reinforcement Learning

1 code implementation7 Jun 2021 Kevin Zakka, Andy Zeng, Pete Florence, Jonathan Tompson, Jeannette Bohg, Debidatta Dwibedi

We investigate the visual cross-embodiment imitation setting, in which agents learn policies from videos of other agents (such as humans) demonstrating the same task, but with stark differences in their embodiments -- shape, actions, end-effector dynamics, etc.

reinforcement-learning

INeRF: Inverting Neural Radiance Fields for Pose Estimation

1 code implementation10 Dec 2020 Lin Yen-Chen, Pete Florence, Jonathan T. Barron, Alberto Rodriguez, Phillip Isola, Tsung-Yi Lin

We then show that for complex real-world scenes from the LLFF dataset, iNeRF can improve NeRF by estimating the camera poses of novel images and using these images as additional training data for NeRF.

Pose Estimation

Learning to Rearrange Deformable Cables, Fabrics, and Bags with Goal-Conditioned Transporter Networks

no code implementations6 Dec 2020 Daniel Seita, Pete Florence, Jonathan Tompson, Erwin Coumans, Vikas Sindhwani, Ken Goldberg, Andy Zeng

Goals cannot be as easily specified as rigid object poses, and may involve complex relative spatial relations such as "place the item inside the bag".

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