Dynamic scene graphs serve as explicit memory to improve imitation learning policies for spatial-temporal reasoning under partial observability in mobile and tabletop manipulation.
Odyssey: Open-world quadrupeds exploration and manipulation for long-horizon tasks
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A hierarchical tactile-aware policy trained from human demos and sim RL improves real quadrupedal loco-manipulation by 28.54% on average over vision-only and visuotactile baselines.
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Expanding Spatial and Temporal Context for Robotic Imitation Learning With Scene Graphs
Dynamic scene graphs serve as explicit memory to improve imitation learning policies for spatial-temporal reasoning under partial observability in mobile and tabletop manipulation.
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Learning Tactile-Aware Quadrupedal Loco-Manipulation Policies
A hierarchical tactile-aware policy trained from human demos and sim RL improves real quadrupedal loco-manipulation by 28.54% on average over vision-only and visuotactile baselines.