Deepak Pathak @pathak2206
I study topics in AI (machine learning, robotics & computer vision). cs.cmu.edu/~dpathak/ Pittsburgh, PA Joined May 2013-
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Our computer vision textbook is released! Foundations of Computer Vision with Antonio Torralba and Bill Freeman mitpress.mit.edu/9780262048972/… It’s been in the works for >10 years. Covers everything from linear filters and camera optics to diffusion models and radiance fields. 1/4
In text-to-image generation, evaluating how well the generated image matches the prompt is a major challenge. We address this with VQAScore: a SOTA metric that significantly surpasses CLIPScore, PickScore, ImageReward, TIFA, and more! VQAScore works especially well on complex…
Very cool results by @chenwang_j !! Pleased to see the LEAP hand being adopted for such diverse and dexterous manipulation tasks. You too can make one for yourself: leaphand.com
Very cool results by @chenwang_j !! Pleased to see the LEAP hand being adopted for such diverse and dexterous manipulation tasks. You too can make one for yourself: leaphand.com
This robot can figure out how to open almost any door on its own newscientist.com/article/241559…
Introducing a simple approach to perform complex tasks in *unseen* environments by allowing the robot to practice. The result is fully autonomous mobile manipulation for opening doors, drawers, cabinets, etc in the open world. PS: door-opening is still far from being "solved" :)
Introducing a simple approach to perform complex tasks in *unseen* environments by allowing the robot to practice. The result is fully autonomous mobile manipulation for opening doors, drawers, cabinets, etc in the open world. PS: door-opening is still far from being "solved" :)
Very cool results from @HaoyuXiong1 ! Proper real-world evaluations are always the most time consuming but important part of robotics research!
Very cool results from @HaoyuXiong1 ! Proper real-world evaluations are always the most time consuming but important part of robotics research!
This mobile robot is able to open doors, drawers, and fridges in the wild, generalizing to scenes not seen during training time. The skills look less impressive than ALOHA, but they're actually fully autonomous. Core idea is simple: do RL *at test time*, use CLIP (or any…
Introducing Open-World Mobile Manipulation 🦾🌍 – A full-stack approach for operating articulated objects in open-ended unstructured environments: Unlocking doors with lever handles/ round knobs/ spring-loaded hinges 🔓🚪 Opening cabinets, drawers, and refrigerators 🗄️ 👇…
Must watch!
Adaptive Mobile Manipulation for Articulated Objects In the Open World paper page: huggingface.co/papers/2401.14… Deploying robots in open-ended unstructured environments such as homes has been a long-standing research problem. However, robots are often studied only in closed-off lab…
Cool to see how many tasks even low-cost robots can perform IF controlled by intelligent "software" (that software here is a human teleoperator)... still recall feeling this deep realization when @pabbeel made this argument in his robot learning talk almost a decade ago!! :)
Cool to see how many tasks even low-cost robots can perform IF controlled by intelligent "software" (that software here is a human teleoperator)... still recall feeling this deep realization when @pabbeel made this argument in his robot learning talk almost a decade ago!! :)
Robotic intelligence requires dexterous tool use, but generalizing across tools is hard. Our CoRL23 paper combines semantics (affordances) with low-level control (sim2real) to show functional grasping that generalizes to hammers, drills and more! dexfunc.github.io 1/n
A generative framework for learning diverse robotic skills from undirected play data!
A generative framework for learning diverse robotic skills from undirected play data!
Don’t miss tomorrow the 6th Robot Learning Workshop at #NeurIPS2023 w/ amazing lineup of speakers: @MashaItkina @_jessethomason_ @DhruvBatraDB @arjunmajum @pathak2206 @SurajNair_1 @BarnesMJ @keerthanpg Montserrat Gonzalez Arenas @xf1280 +robot demos 🤖! robot-learning.ml/2023/
Excited to present Diffusion-TTA at #NeurIPS. Current paradigm to image recognition is dominated by discriminative models (Clip or ViT) that learn a bottom up pathway to perception⤴️ (Image -> Label). Generative models on the other hand learn a top down pathway to perception ⤵️…
Excited to present Diffusion-TTA at #NeurIPS. Current paradigm to image recognition is dominated by discriminative models (Clip or ViT) that learn a bottom up pathway to perception⤴️ (Image -> Label). Generative models on the other hand learn a top down pathway to perception ⤵️… https://t.co/Gc2aErfYU2
We use generative models to improve discriminative models, by doing test-time adaptation on unlabeled images. This works especially well on a stream of OOD data! Swing by our poster (#305) today 10:45am-12:45pm if you'd like to chat!
We use generative models to improve discriminative models, by doing test-time adaptation on unlabeled images. This works especially well on a stream of OOD data! Swing by our poster (#305) today 10:45am-12:45pm if you'd like to chat!
How can robots perform a wide range of skills? At #CoRL2023, we presented PlayFusion – a language-conditioned discrete diffusion model capable of performing many different tasks! 🌐play-fusion.github.io 1/n
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Jitendra MALIK @JitendraMalikCV
4K Followers 0 FollowingIn text-to-image generation, evaluating how well the generated image matches the prompt is a major challenge. We address this with VQAScore: a SOTA metric that significantly surpasses CLIPScore, PickScore, ImageReward, TIFA, and more! VQAScore works especially well on complex…
Can we use wearable devices to collect robot data without actual robots? Yes! With a pair of gloves🧤! Introducing DexCap, a portable hand motion capture system that collects 3D data (point cloud + finger motion) for training robots with dexterous hands Everything open-sourced
Dynamixels are truly great. It's almost similar to what Python is in software: a great abstraction layer on actuation. It allows us to focus on the robot design and learning itself.
Open-source robot arm for about $200. It uses five Dynamixel servo motors and weighs slightly over 100g (without the base). The design for a leader arm is included as well so that you can teleoperate it effectively. (Video is at 1x speed) github.com/AlexanderKoch-…
🚨Paper Alert 🚨 ➡️Paper Title:Adaptive Mobile Manipulation for Articulated Objects In the Open World 🌟Few pointers from the paper 🎯In this paper authors have introduced “Open-World Mobile Manipulation System”, a full-stack approach to tackle realistic articulated object…
We especially thank @kenny__shaw @anag004 @pathak2206 for open-sourcing the LEAP Hand project. Having a customizable and low-cost dexterous hand benefits our project a lot!
More coverage for Large World Model! :) bnnbreaking.com/world/us/uc-be…
So grateful for the unwavering support and mentorship I’ve received from my advisor @pathak2206
Wonderful to find out that our real-world robotic adaptation work got featured in Nature’s “Images of the Month” series across all areas of Science alongside case studies of plasma on the Sun’s surface, neon nerve cells, and marine life in the deep ocean: nature.com/immersive/d415…
This robot can figure out how to open almost any door on its own newscientist.com/article/241559…
LLMs are great, but their internals are less explored. I'm excited to share very interesting findings in paper “Massive Activations in Large Language Models” LLMs have very few internal activations with drastically outsized magnitudes, e.g., 100,000x larger than others. (1/n)
Sora is here! It's a diffusion transformer that can generate up to a minute of 1080p video with great coherence and quality. @_tim_brooks and I have been working on this at @OpenAI for a year, and we're pumped about pursuing AGI by simulating everything! openai.com/sora
Yesterday we announced our $202M Fund II to back early-stage startups. Today we want to thank the entire AIX Ventures team for their hard work. @pabbeel, @antgoldbloom, @shaunbjohnson, @shyammani_, @chrmanning, Christina Sfakianos, @RichardSocher, @SaraTatman
@darshilistired I started the next one two days ago!
Hi everyone yes, I left OpenAI yesterday. First of all nothing "happened" and it’s not a result of any particular event, issue or drama (but please keep the conspiracy theories coming as they are highly entertaining :)). Actually, being at OpenAI over the last ~year has been…
Am I the only one who learned today that the time unit "second" is called this way because its the second time that the unit "hours" is subdivided, the first time being minutes (meaning "small")?
Extreme Parkour was accepted at @ieee_ras_icra 2024. Won’t be possible without the joint efforts with @teenhaci @anag004 @pathak2206 !
Didn't think this is possible but we made it! Glad to finish my master with this exciting project with amazing collaborators @teenhaci, @anag004 and @pathak2206!
Very cool results from @HaoyuXiong1 ! Proper real-world evaluations are always the most time consuming but important part of robotics research!
Introducing Open-World Mobile Manipulation 🦾🌍 – A full-stack approach for operating articulated objects in open-ended unstructured environments: Unlocking doors with lever handles/ round knobs/ spring-loaded hinges 🔓🚪 Opening cabinets, drawers, and refrigerators 🗄️ 👇…
Exciting strides in robotics! 🤖 Thrilled to see the Open-World Mobile Manipulation project. lead by @HaoyuXiong1, @mendonca_rl, @kenny__shaw, and @pathak2206.
This mobile robot is able to open doors, drawers, and fridges in the wild, generalizing to scenes not seen during training time. The skills look less impressive than ALOHA, but they're actually fully autonomous. Core idea is simple: do RL *at test time*, use CLIP (or any…
Introducing Open-World Mobile Manipulation 🦾🌍 – A full-stack approach for operating articulated objects in open-ended unstructured environments: Unlocking doors with lever handles/ round knobs/ spring-loaded hinges 🔓🚪 Opening cabinets, drawers, and refrigerators 🗄️ 👇…
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