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ORBIT: A Unified Simulation Framework for Interactive Robot Learning Environments


Jan 10, 2023
Mayank Mittal, Calvin Yu, Qinxi Yu, Jingzhou Liu, Nikita Rudin, David Hoeller, Jia Lin Yuan, Pooria Poorsarvi Tehrani, Ritvik Singh, Yunrong Guo, Hammad Mazhar, Ajay Mandlekar, Buck Babich, Gavriel State, Marco Hutter, Animesh Garg

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* Project website: https://isaac-orbit.github.io/ 

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Active Task Randomization: Learning Visuomotor Skills for Sequential Manipulation by Proposing Feasible and Novel Tasks


Nov 11, 2022
Kuan Fang, Toki Migimatsu, Ajay Mandlekar, Li Fei-Fei, Jeannette Bohg

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* 9 pages, 5 figures 

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Learning and Retrieval from Prior Data for Skill-based Imitation Learning


Oct 20, 2022
Soroush Nasiriany, Tian Gao, Ajay Mandlekar, Yuke Zhu

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* Conference on Robot Learning (CoRL), 2022 

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MoCoDA: Model-based Counterfactual Data Augmentation


Oct 20, 2022
Silviu Pitis, Elliot Creager, Ajay Mandlekar, Animesh Garg

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* In Proceedings of NeurIPS 2022. 10 pages (+3 references, +10 appendix). Code available at https://github.com/spitis/mocoda 

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MineDojo: Building Open-Ended Embodied Agents with Internet-Scale Knowledge


Jun 17, 2022
Linxi Fan, Guanzhi Wang, Yunfan Jiang, Ajay Mandlekar, Yuncong Yang, Haoyi Zhu, Andrew Tang, De-An Huang, Yuke Zhu, Anima Anandkumar

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Error-Aware Imitation Learning from Teleoperation Data for Mobile Manipulation


Dec 09, 2021
Josiah Wong, Albert Tung, Andrey Kurenkov, Ajay Mandlekar, Li Fei-Fei, Silvio Savarese, Roberto Martín-Martín

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* CoRL 2021 

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What Matters in Learning from Offline Human Demonstrations for Robot Manipulation


Aug 06, 2021
Ajay Mandlekar, Danfei Xu, Josiah Wong, Soroush Nasiriany, Chen Wang, Rohun Kulkarni, Li Fei-Fei, Silvio Savarese, Yuke Zhu, Roberto Martín-Martín

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Learning Latent Actions to Control Assistive Robots


Jul 10, 2021
Dylan P. Losey, Hong Jun Jeon, Mengxi Li, Krishnan Srinivasan, Ajay Mandlekar, Animesh Garg, Jeannette Bohg, Dorsa Sadigh

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Generalization Through Hand-Eye Coordination: An Action Space for Learning Spatially-Invariant Visuomotor Control


Feb 28, 2021
Chen Wang, Rui Wang, Danfei Xu, Ajay Mandlekar, Li Fei-Fei, Silvio Savarese

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* First two authors contributed equally 

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