BEHAVIOR-1K: A Human-Centered, Embodied AI Benchmark with 1,000 Everyday Activities and Realistic Simulation

no code implementations • 14 Mar 2024 • Chengshu Li, Ruohan Zhang, Josiah Wong, Cem Gokmen, Sanjana Srivastava, Roberto Martín-Martín, Chen Wang, Gabrael Levine, Wensi Ai, Benjamin Martinez, Hang Yin, Michael Lingelbach, Minjune Hwang, Ayano Hiranaka, Sujay Garlanka, Arman Aydin, Sharon Lee, Jiankai Sun, Mona Anvari, Manasi Sharma, Dhruva Bansal, Samuel Hunter, Kyu-Young Kim, Alan Lou, Caleb R Matthews, Ivan Villa-Renteria, Jerry Huayang Tang, Claire Tang, Fei Xia, Yunzhu Li, Silvio Savarese, Hyowon Gweon, C. Karen Liu, Jiajun Wu, Li Fei-Fei

We present BEHAVIOR-1K, a comprehensive simulation benchmark for human-centered robotics.

Language-Informed Visual Concept Learning

no code implementations • 6 Dec 2023 • Sharon Lee, Yunzhi Zhang, Shangzhe Wu, Jiajun Wu

To encourage better disentanglement of different concept encoders, we anchor the concept embeddings to a set of text embeddings obtained from a pre-trained Visual Question Answering (VQA) model.

Disentanglement Novel Concepts +2

NOIR: Neural Signal Operated Intelligent Robots for Everyday Activities

no code implementations • 2 Nov 2023 • Ruohan Zhang, Sharon Lee, Minjune Hwang, Ayano Hiranaka, Chen Wang, Wensi Ai, Jin Jie Ryan Tan, Shreya Gupta, Yilun Hao, Gabrael Levine, Ruohan Gao, Anthony Norcia, Li Fei-Fei, Jiajun Wu

We present Neural Signal Operated Intelligent Robots (NOIR), a general-purpose, intelligent brain-robot interface system that enables humans to command robots to perform everyday activities through brain signals.

EEG

Primitive Skill-based Robot Learning from Human Evaluative Feedback

no code implementations • 28 Jul 2023 • Ayano Hiranaka, Minjune Hwang, Sharon Lee, Chen Wang, Li Fei-Fei, Jiajun Wu, Ruohan Zhang

By combining them, SEED reduces the human effort required in RLHF and increases safety in training robot manipulation with RL in real-world settings.

reinforcement-learning Reinforcement Learning (RL) +1

Joint Modeling and Registration of Cell Populations in Cohorts of High-Dimensional Flow Cytometric Data

no code implementations • 31 May 2013 • Saumyadipta Pyne, Kui Wang, Jonathan Irish, Pablo Tamayo, Marc-Danie Nazaire, Tarn Duong, Sharon Lee, Shu-Kay Ng, David Hafler, Ronald Levy, Garry Nolan, Jill Mesirov, Geoffrey J. McLachlan

Simultaneously, JCM fits a random-effects model to construct an overall batch template -- used for registering populations across samples, and classifying new samples.

Clustering