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Code as Policies: Language Model Programs for Embodied Control


Sep 19, 2022
Jacky Liang, Wenlong Huang, Fei Xia, Peng Xu, Karol Hausman, Brian Ichter, Pete Florence, Andy Zeng


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Inner Monologue: Embodied Reasoning through Planning with Language Models


Jul 12, 2022
Wenlong Huang, Fei Xia, Ted Xiao, Harris Chan, Jacky Liang, Pete Florence, Andy Zeng, Jonathan Tompson, Igor Mordatch, Yevgen Chebotar, Pierre Sermanet, Noah Brown, Tomas Jackson, Linda Luu, Sergey Levine, Karol Hausman, Brian Ichter

* Project website: https://innermonologue.github.io 

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Learning to Fold Real Garments with One Arm: A Case Study in Cloud-Based Robotics Research


Apr 21, 2022
Ryan Hoque, Kaushik Shivakumar, Shrey Aeron, Gabriel Deza, Aditya Ganapathi, Adrian Wong, Johnny Lee, Andy Zeng, Vincent Vanhoucke, Ken Goldberg


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Learning Pneumatic Non-Prehensile Manipulation with a Mobile Blower


Apr 05, 2022
Jimmy Wu, Xingyuan Sun, Andy Zeng, Shuran Song, Szymon Rusinkiewicz, Thomas Funkhouser

* Project page: https://learning-dynamic-manipulation.cs.princeton.edu 

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Socratic Models: Composing Zero-Shot Multimodal Reasoning with Language


Apr 01, 2022
Andy Zeng, Adrian Wong, Stefan Welker, Krzysztof Choromanski, Federico Tombari, Aveek Purohit, Michael Ryoo, Vikas Sindhwani, Johnny Lee, Vincent Vanhoucke, Pete Florence

* https://socraticmodels.github.io/ 

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Multiscale Sensor Fusion and Continuous Control with Neural CDEs


Mar 16, 2022
Sumeet Singh, Francis McCann Ramirez, Jacob Varley, Andy Zeng, Vikas Sindhwani

* Submitted to IEEE IROS 2022 

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Implicit Kinematic Policies: Unifying Joint and Cartesian Action Spaces in End-to-End Robot Learning


Mar 03, 2022
Aditya Ganapathi, Pete Florence, Jake Varley, Kaylee Burns, Ken Goldberg, Andy Zeng

* International Conference on Robotics and Automation (ICRA) 2022 

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VIRDO: Visio-tactile Implicit Representations of Deformable Objects


Feb 02, 2022
Youngsun Wi, Pete Florence, Andy Zeng, Nima Fazeli

* This work has been accepted to ICRA 2022 

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Hybrid Random Features


Oct 13, 2021
Krzysztof Choromanski, Haoxian Chen, Han Lin, Yuanzhe Ma, Arijit Sehanobish, Deepali Jain, Michael S Ryoo, Jake Varley, Andy Zeng, Valerii Likhosherstov, Dmitry Kalashnikov, Vikas Sindhwani, Adrian Weller


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Multi-Task Learning with Sequence-Conditioned Transporter Networks


Sep 15, 2021
Michael H. Lim, Andy Zeng, Brian Ichter, Maryam Bandari, Erwin Coumans, Claire Tomlin, Stefan Schaal, Aleksandra Faust


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