Robot policies are frequently trained from human corrections, yet teleoperating a robot to provide corrections is burdensome, and human demonstrators are not always optimal. We propose Blended DAgger (BlenDAgger), an approach for collecting data to train imitation learning policies by using shared control to blend the …
Visual imitation learning is a promising approach to training robot manipulation policies capable of completing a wide variety of tasks. However, policies today remain brittle to viewpoint perturbations, making deployment in diverse environments a challenge. We present a controlled empirical study of which design choic …
Despite rapid progress, generalist robot policies remain brittle on complex, long-horizon tasks that comprise multiple stages or require repeated attempts and deliberation on the same underlying stage before success. Q-value functions can improve these policies by ranking candidate actions or guiding policy improvement …
Continuum robots enable smooth shape morphing and safe interaction in confined environments. However, most existing systems are task-specific and depend on external sensing infrastructure, limiting their adaptability and real-world deployment. This paper presents a self-contained modular continuum robotic platform that …