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Robot behavior policies trained via imitation learning are prone to failure under conditions that deviate from their training data.
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Vision-based multi-task manipulation for inexpensive robots using end-to-end learning from demonstration
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Simple and principled uncertainty estimation with deterministic deep learning via distance awareness, 2020
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Generalized out-of-distribution detection: A survey
J. Yang, K. Zhou, Y. Li, and Z. Liu · 2021
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Score-based generative modeling through stochastic differential equations
Y. Song, J. Sohl-Dickstein, D. P. Kingma, A. Kumar, S. Ermon, and B. Poole · 2021
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Fino-net: A deep multimodal sensor fusion framework for manipulation failure detection
A. Inceoglu, E. E. Aksoy, A. Cihan Ak, and S. Sariel · 2021
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A unifying review of deep and shallow anomaly detection
L. Ruff, J. R. Kauffmann, R. A. Vandermeulen, G. Montavon, W. Samek, M. Kloft, T. G. Dietterich, and K.-R. Müller · 2021
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Semantic anomaly detection with large language models
A. Elhafsi, R. Sinha, C. Agia, E. Schmerling, I. A. Nesnas, and M. Pavone · 2023
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Inner monologue: Embodied reasoning through planning with language models
W. Huang, F. Xia, T. Xiao, H. Chan, J. Liang, P. Florence, A. Zeng, J. Tompson, I. Mordatch, Y. Chebotar, P. Sermanet, T. Jackson, N. Brown, L. Luu, S. Levine, K. Hausman, and b. ichter · 2023
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Reflect: Summarizing robot experiences for failure explanation and correction
Z. Liu, A. Bahety, and S. Song · 2023
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VIP: Towards universal visual reward and representation via value-implicit pre-training
Y. J. Ma, S. Sodhani, D. Jayaraman, O. Bastani, V. Kumar, and A. Zhang · 2023
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Robot fine-tuning made easy: Pre-training rewards and policies for autonomous real-world reinforcement learning, 2023
J. Yang, M. S. Mark, B. Vu, A. Sharma, J. Bohg, and C. Finn · 2023
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Sketching curvature for efficient out-of-distribution detection for deep neural networks
A. Sharma, N. Azizan, and M. Pavone · 2021
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Detect, reject, correct: Crossmodal compensation of corrupted sensors
M. A. Lee, M. Tan, Y. Zhu, and J. Bohg · 2021
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Monitoring and diagnosability of perception systems
P. Antonante, D. I. Spivak, and L. Carlone · 2021
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On the opportunities and risks of foundation models
R. Bommasani, D. A. Hudson, E. Adeli, R. Altman, S. Arora, S. von Arx, M. S. Bernstein, J. Bohg, A. Bosselut, E. Brunskill, et al · 2021
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Sketching curvature for efficient out-of-distribution detection for deep neural networks
A. Sharma, N. Azizan, and M. Pavone · 2021
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A gentle introduction to conformal prediction and distribution-free uncertainty quantification
A. N. Angelopoulos and S. Bates · 2021
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Learning transferable visual models from natural language supervision
A. Radford, J. W. Kim, C. Hallacy, A. Ramesh, G. Goh, S. Agarwal, G. Sastry, A. Askell, P. Mishkin, J. Clark, et al · 2021
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Vision-language models as success detectors
Y. Du, K. Konyushkova, M. Denil, A. Raju, J. Landon, F. Hill, N. de Freitas, and S. Cabi · 2023
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Sample-efficient safety assurances using conformal prediction
R. Luo, S. Zhao, J. Kuck, B. Ivanovic, S. Savarese, E. Schmerling, and M. Pavone · 2023
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Denoising diffusion models for out-of-distribution detection
M. S. Graham, W. H. Pinaya, P.-D. Tudosiu, P. Nachev, S. Ourselin, and J. Cardoso · 2023
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Boosted prompt ensembles for large language models
S. Pitis, M. R. Zhang, A. Wang, and J. Ba · 2023
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Tracking anything with decoupled video segmentation
H. K. Cheng, S. W. Oh, B. Price, A. Schwing, and J.-Y. Lee · 2023
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Robots that ask for help: Uncertainty alignment for large language model planners
A. Z. Ren, A. Dixit, A. Bodrova, S. Singh, S. Tu, N. Brown, P. Xu, L. Takayama, F. Xia, J. Varley, Z. Xu, D. Sadigh, A. Zeng, and A. Majumdar · 2023
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Octo: An open-source generalist robot policy
Octo Model Team, D. Ghosh, H. Walke, K. Pertsch, K. Black, O. Mees, S. Dasari, J. Hejna, C. Xu, J. Luo, T. Kreiman, Y. Tan, L. Y. Chen, P. Sanketi, Q. Vuong, T. Xiao, D. Sadigh, C. Finn, and S. Levine · 2024
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Equivact: Sim(3)-equivariant visuomotor policies beyond rigid object manipulation
J. Yang, C. Deng, J. Wu, R. Antonova, L. Guibas, and J. Bohg · 2024
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Universal manipulation interface: In-the-wild robot teaching without in-the-wild robots
C. Chi, Z. Xu, C. Pan, E. Cousineau, B. Burchfiel, S. Feng, R. Tedrake, and S. Song · 2024
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Mobile aloha: Learning bimanual mobile manipulation with low-cost whole-body teleoperation
Z. Fu, T. Z. Zhao, and C. Finn · 2024
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Openvla: An open-source vision-language-action model
M. J. Kim, K. Pertsch, S. Karamcheti, T. Xiao, A. Balakrishna, S. Nair, R. Rafailov, E. Foster, G. Lam, P. Sanketi, et al · 2024
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How generalizable is my behavior cloning policy? a statistical approach to trustworthy performance evaluation, 2024
J. A. Vincent, H. Nishimura, M. Itkina, P. Shah, M. Schwager, and T. Kollar · 2024
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Model-based runtime monitoring with interactive imitation learning
H. Liu, S. Dass, R. Martín-Martín, and Y. Zhu · 2024
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Real-time anomaly detection and reactive planning with large language models
R. Sinha, A. Elhafsi, C. Agia, M. Foutter, E. Schmerling, and M. Pavone · 2024
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Replan: Robotic replanning with perception and language models
M. Skreta, Z. Zhou, J. L. Yuan, K. Darvish, A. Aspuru-Guzik, and A. Garg · 2024
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Pivot: Iterative visual prompting elicits actionable knowledge for vlms
S. Nasiriany, F. Xia, W. Yu, T. Xiao, J. Liang, I. Dasgupta, A. Xie, D. Driess, A. Wahid, Z. Xu, et al · 2024
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Physically grounded vision-language models for robotic manipulation
J. Gao, B. Sarkar, F. Xia, T. Xiao, J. Wu, B. Ichter, A. Majumdar, and D. Sadigh · 2024
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Vision-language foundation models as effective robot imitators
X. Li, M. Liu, H. Zhang, C. Yu, J. Xu, H. Wu, C. Cheang, Y. Jing, W. Zhang, H. Liu, H. Li, and T. Kong · 2024
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Gemini 1.5: Unlocking multimodal understanding across millions of tokens of context
M. Reid, N. Savinov, D. Teplyashin, D. Lepikhin, T. Lillicrap, J.-b. Alayrac, R. Soricut, A. Lazaridou, O. Firat, J. Schrittwieser, et al · 2024
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Grounded sam: Assembling open-world models for diverse visual tasks
T. Ren, S. Liu, A. Zeng, J. Lin, K. Li, H. Cao, J. Chen, X. Huang, Y. Chen, F. Yan, et al · 2024
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Reconstructing hands in 3d with transformers
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Equibot: Sim(3)-equivariant diffusion policy for generalizable and data efficient learning, 2024
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Spatialvlm: Endowing vision-language models with spatial reasoning capabilities
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Online distribution shift detection via recency prediction
R. Luo, R. Sinha, Y. Sun, A. Hindy, S. Zhao, S. Savarese, E. Schmerling, and M. Pavone · 2024
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