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Error-Aware Imitation Learning from Teleoperation Data for Mobile Manipulation
Doing this is challenging for two reasons: on the data side, current interfaces make collecting high-quality human demonstrations difficult, and on the learning side, policies trained on limited data can suffer from covariate shift when deployed.
Hierarchical Summarization for Longform Spoken Dialog
These concerns all demonstrate the need for a distinctly speech tailored interactive system to help users understand and navigate the spoken language domain.
Automatic Speech Recognition
Automatic Speech Recognition (ASR)
+4
Learning Multi-Arm Manipulation Through Collaborative Teleoperation
To address these challenges, we present Multi-Arm RoboTurk (MART), a multi-user data collection platform that allows multiple remote users to simultaneously teleoperate a set of robotic arms and collect demonstrations for multi-arm tasks.
Scaling Robot Supervision to Hundreds of Hours with RoboTurk: Robotic Manipulation Dataset through Human Reasoning and Dexterity
We evaluate the quality of our platform, the diversity of demonstrations in our dataset, and the utility of our dataset via quantitative and qualitative analysis.
RoboTurk: A Crowdsourcing Platform for Robotic Skill Learning through Imitation
Imitation Learning has empowered recent advances in learning robotic manipulation tasks by addressing shortcomings of Reinforcement Learning such as exploration and reward specification.
