Chelsea Finn

AutoRT: Embodied Foundation Models for Large Scale Orchestration of Robotic Agents

Michael Ahn, Debidatta Dwibedi, Chelsea Finn, Montse Gonzalez Arenas, Keerthana Gopalakrishnan, Karol Hausman, Brian Ichter, Alex Irpan, Nikhil Joshi, Ryan Julian, Sean Kirmani, Isabel Leal, Edward Lee, Sergey Levine, Yao Lu, Isabel Leal, Sharath Maddineni, Kanishka Rao, Dorsa Sadigh, Pannag Sanketi, Pierre Sermanet, Quan Vuong, Stefan Welker, Fei Xia, Ted Xiao, Peng Xu, Steve Xu, Zhuo Xu

Comments 26 pages, 9 figures, ICRA 2024 VLMNM Workshop

To Err is Robotic: Rapid Value-Based Trial-and-Error during Deployment

Maximilian Du, Alexander Khazatsky, Tobias Gerstenberg, Chelsea Finn

HumanPlus: Humanoid Shadowing and Imitation from Humans

Zipeng Fu, Qingqing Zhao, Qi Wu, Gordon Wetzstein, Chelsea Finn

Comments project website: https://humanoid-ai.github.io/

Preference Fine-Tuning of LLMs Should Leverage Suboptimal, On-Policy Data

Fahim Tajwar, Anikait Singh, Archit Sharma, Rafael Rafailov, Jeff Schneider, Tengyang Xie, Stefano Ermon, Chelsea Finn, Aviral Kumar

Comments International Conference on Machine Learning (ICML), 2024

Conservative Prediction via Data-Driven Confidence Minimization

Caroline Choi, Fahim Tajwar, Yoonho Lee, Huaxiu Yao, Ananya Kumar, Chelsea Finn

Comments Transactions on Machine Learning Research (TMLR), 2024

PIGEON: Predicting Image Geolocations

Lukas Haas, Michal Skreta, Silas Alberti, Chelsea Finn

Comments Accepted at CVPR 2024

Octo: An Open-Source Generalist Robot Policy

Octo Model Team, Dibya Ghosh, Homer Walke, Karl Pertsch, Kevin Black, Oier Mees, Sudeep Dasari, Joey Hejna, Tobias Kreiman, Charles Xu, Jianlan Luo, You Liang Tan, Lawrence Yunliang Chen, Pannag Sanketi, Quan Vuong, Ted Xiao, Dorsa Sadigh, Chelsea Finn, Sergey Levine

Comments Project website: https://octo-models.github.io

Tripod: Three Complementary Inductive Biases for Disentangled Representation Learning

Kyle Hsu, Jubayer Ibn Hamid, Kaylee Burns, Chelsea Finn, Jiajun Wu

Comments ICML 2024 camera-ready. 22 pages, 10 figures, code available at https://github.com/kylehkhsu/tripod

Efficient Data Collection for Robotic Manipulation via Compositional Generalization

Jensen Gao, Annie Xie, Ted Xiao, Chelsea Finn, Dorsa Sadigh

Comments RSS 2024

Evaluating Real-World Robot Manipulation Policies in Simulation

Xuanlin Li, Kyle Hsu, Jiayuan Gu, Karl Pertsch, Oier Mees, Homer Rich Walke, Chuyuan Fu, Ishikaa Lunawat, Isabel Sieh, Sean Kirmani, Sergey Levine, Jiajun Wu, Chelsea Finn, Hao Su, Quan Vuong, Ted Xiao

ALOHA 2: An Enhanced Low-Cost Hardware for Bimanual Teleoperation

ALOHA 2 Team, Jorge Aldaco, Travis Armstrong, Robert Baruch, Jeff Bingham, Sanky Chan, Kenneth Draper, Debidatta Dwibedi, Chelsea Finn, Pete Florence, Spencer Goodrich, Wayne Gramlich, Torr Hage, Alexander Herzog, Jonathan Hoech, Thinh Nguyen, Ian Storz, Baruch Tabanpour, Leila Takayama, Jonathan Tompson, Ayzaan Wahid, Ted Wahrburg, Sichun Xu, Sergey Yaroshenko, Kevin Zakka, Tony Z. Zhao

Comments Project website: aloha-2.github.io

Contrastive Preference Learning: Learning from Human Feedback without RL

Joey Hejna, Rafael Rafailov, Harshit Sikchi, Chelsea Finn, Scott Niekum, W. Bradley Knox, Dorsa Sadigh

Comments ICLR 2024. Code released at https://github.com/jhejna/cpl

Model-Based Reinforcement Learning for Atari

Lukasz Kaiser, Mohammad Babaeizadeh, Piotr Milos, Blazej Osinski, Roy H Campbell, Konrad Czechowski, Dumitru Erhan, Chelsea Finn, Piotr Kozakowski, Sergey Levine, Afroz Mohiuddin, Ryan Sepassi, George Tucker, Henryk Michalewski

Yell At Your Robot: Improving On-the-Fly from Language Corrections

Lucy Xiaoyang Shi, Zheyuan Hu, Tony Z. Zhao, Archit Sharma, Karl Pertsch, Jianlan Luo, Sergey Levine, Chelsea Finn

Comments Project website: https://yay-robot.github.io/

Analyzing and Mitigating Object Hallucination in Large Vision-Language Models

Yiyang Zhou, Chenhang Cui, Jaehong Yoon, Linjun Zhang, Zhun Deng, Chelsea Finn, Mohit Bansal, Huaxiu Yao

Comments Accepted by ICLR 2024

Improving Domain Generalization with Domain Relations

Huaxiu Yao, Xinyu Yang, Xinyi Pan, Shengchao Liu, Pang Wei Koh, Chelsea Finn

Comments Accepted by ICLR 2024 (Spotlight)

AutoFT: Learning an Objective for Robust Fine-Tuning

Caroline Choi, Yoonho Lee, Annie Chen, Allan Zhou, Aditi Raghunathan, Chelsea Finn

Comments 18 pages

Pushing the Limits of Cross-Embodiment Learning for Manipulation and Navigation

Jonathan Yang, Catherine Glossop, Arjun Bhorkar, Dhruv Shah, Quan Vuong, Chelsea Finn, Dorsa Sadigh, Sergey Levine

Comments 16 pages, 9 figures

Self-Guided Masked Autoencoders for Domain-Agnostic Self-Supervised Learning

Johnathan Xie, Yoonho Lee, Annie S. Chen, Chelsea Finn

Comments ICLR 2024

A Critical Evaluation of AI Feedback for Aligning Large Language Models

Archit Sharma, Sedrick Keh, Eric Mitchell, Chelsea Finn, Kushal Arora, Thomas Kollar

Aligning Modalities in Vision Large Language Models via Preference Fine-tuning

Yiyang Zhou, Chenhang Cui, Rafael Rafailov, Chelsea Finn, Huaxiu Yao

RLVF: Learning from Verbal Feedback without Overgeneralization

Moritz Stephan, Alexander Khazatsky, Eric Mitchell, Annie S Chen, Sheryl Hsu, Archit Sharma, Chelsea Finn

Comments 9 pages, 9 figures

PIVOT: Iterative Visual Prompting Elicits Actionable Knowledge for VLMs

Soroush Nasiriany, Fei Xia, Wenhao Yu, Ted Xiao, Jacky Liang, Ishita Dasgupta, Annie Xie, Danny Driess, Ayzaan Wahid, Zhuo Xu, Quan Vuong, Tingnan Zhang, Tsang-Wei Edward Lee, Kuang-Huei Lee, Peng Xu, Sean Kirmani, Yuke Zhu, Andy Zeng, Karol Hausman, Nicolas Heess, Chelsea Finn, Sergey Levine, Brian Ichter

Universal Neural Functionals

Allan Zhou, Chelsea Finn, James Harrison

Cal-QL: Calibrated Offline RL Pre-Training for Efficient Online Fine-Tuning

Mitsuhiko Nakamoto, Yuexiang Zhai, Anikait Singh, Max Sobol Mark, Yi Ma, Chelsea Finn, Aviral Kumar, Sergey Levine

Comments NeurIPS 2023. project page: https://nakamotoo.github.io/Cal-QL

BridgeData V2: A Dataset for Robot Learning at Scale

Homer Walke, Kevin Black, Abraham Lee, Moo Jin Kim, Max Du, Chongyi Zheng, Tony Zhao, Philippe Hansen-Estruch, Quan Vuong, Andre He, Vivek Myers, Kuan Fang, Chelsea Finn, Sergey Levine

Comments 9 pages

MOTO: Offline Pre-training to Online Fine-tuning for Model-based Robot Learning

Rafael Rafailov, Kyle Hatch, Victor Kolev, John D. Martin, Mariano Phielipp, Chelsea Finn

Comments This is an updated version of a manuscript that originally appeared at CoRL 2023. The project website is here https://sites.google.com/view/mo2o

Journal ref Proceedings of The 7th Conference on Robot Learning, PMLR 229:3654-3671, 2023

Mobile ALOHA: Learning Bimanual Mobile Manipulation with Low-Cost Whole-Body Teleoperation

Zipeng Fu, Tony Z. Zhao, Chelsea Finn

Comments Project website: https://mobile-aloha.github.io (Zipeng Fu and Tony Z. Zhao are project co-leads, Chelsea Finn is the advisor)

What Makes Pre-Trained Visual Representations Successful for Robust Manipulation?

Kaylee Burns, Zach Witzel, Jubayer Ibn Hamid, Tianhe Yu, Chelsea Finn, Karol Hausman

Comments 20 pages, 12 figures

Fine-tuning Language Models for Factuality

Katherine Tian, Eric Mitchell, Huaxiu Yao, Christopher D. Manning, Chelsea Finn