3 papers indexed
Kaiyuan Chen, Shuangyu Xie, Letian Fu, Justin Yu, William Pacini, Sandeep Bajamahal, et al.
For robots to work reliably in commercial and industrial applications, can recent advances in agentic coding systems combine interpretable robot programming with the open-world adaptability of model-free policies? We focus on "Variational Automation" (VA), a class of tasks that h…
Justin Yu, Andrew Goldberg, Kavish Kondap, Karim El-Refai, Ethan Ransing, Qianzhong Chen, et al.
Scaling imitation learning requires large datasets, yet human teleoperation inevitably produces mixed-quality demonstrations containing hesitations and recoveries. Prior frame-level progress reward models supervise on absolute temporal progress proxies that suffer from label nois…
Arthur Allshire, Himanshu Gaurav Singh, Ritvik Singh, Adam Rashid, Hongsuk Choi, David McAllister, et al.
We introduce ABC, a fully open-source stack for manipulation with behavior cloning. At its core is ABC-130K: the largest open-source teleoperation dataset to date, featuring 3,500 hours of data spanning over 130K episodes across 195 diverse tasks. Furthermore, we open-source our…