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FlowEval: How Much Adaptation Does an Embodied Foundation Model Need at Deployment?
Large-scale pretraining is reducing the amount of adaptation required to deploy embodied foundation models, but it is not guaranteed …
Zhang Xi-Jia, Roman Yakunin, Shivang Chopra, Chengyue Huang, Che Chen, Siddharth Karamcheti, Zsolt Kira
CAPEX: Efficiently Distilling Foundation Model Behavior into Deployable Robot Policies through Experience-Adaptive Reasoning
Robot learning has largely relied on human-teleoperated demonstrations to acquire effective learnable behaviors. However, …
Shivam Aarya, Zhang Xi-Jia, Chengyue Huang, Junhyun Kim, Huishu Xue, Hrishit Leen, Roman Yakunin, Animesh Garg, Zsolt Kira
Model-agnostic policy explanations with large language models
Intelligent agents, such as robots, are increasingly deployed in real-world, human-centric environments. To foster appropriate human …
Zhang Xi-Jia, Yue Guo, Shufei Chen, Simon Stepputtis, Matthew Gombolay, Katia Sycara, Joseph Campbell
Model-agnostic policy explanations with large language models