Chelsea Finn

Latent Diffusion Planning for Imitation Learning

Amber Xie, Oleh Rybkin, Dorsa Sadigh, Chelsea Finn

$π_{0.5}$: a Vision-Language-Action Model with Open-World Generalization

Physical Intelligence, Kevin Black, Noah Brown, James Darpinian, Karan Dhabalia, Danny Driess, Adnan Esmail, Michael Equi, Chelsea Finn, Niccolo Fusai, Manuel Y. Galliker, Dibya Ghosh, Lachy Groom, Karol Hausman, Brian Ichter, Szymon Jakubczak, Tim Jones, Liyiming Ke, Devin LeBlanc, Sergey Levine, Adrian Li-Bell, Mohith Mothukuri, Suraj Nair, Karl Pertsch, Allen Z. Ren, Lucy Xiaoyang Shi, Laura Smith, Jost Tobias Springenberg, Kyle Stachowicz, James Tanner, Quan Vuong, Homer Walke, Anna Walling, Haohuan Wang, Lili Yu, Ury Zhilinsky

机构 * Physical Intelligence 纠错

DROID: A Large-Scale In-The-Wild Robot Manipulation Dataset

Alexander Khazatsky, Karl Pertsch, Suraj Nair, Ashwin Balakrishna, Sudeep Dasari, Siddharth Karamcheti, Soroush Nasiriany, Mohan Kumar Srirama, Lawrence Yunliang Chen, Kirsty Ellis, Peter David Fagan, Joey Hejna, Masha Itkina, Marion Lepert, Yecheng Jason Ma, Patrick Tree Miller, Jimmy Wu, Suneel Belkhale, Shivin Dass, Huy Ha, Arhan Jain, Abraham Lee, Youngwoon Lee, Marius Memmel, Sungjae Park, Ilija Radosavovic, Kaiyuan Wang, Albert Zhan, Kevin Black, Cheng Chi, Kyle Beltran Hatch, Shan Lin, Jingpei Lu, Jean Mercat, Abdul Rehman, Pannag R Sanketi, Archit Sharma, Cody Simpson, Quan Vuong, Homer Rich Walke, Blake Wulfe, Ted Xiao, Jonathan Heewon Yang, Arefeh Yavary, Tony Z. Zhao, Christopher Agia, Rohan Baijal, Mateo Guaman Castro, Daphne Chen, Qiuyu Chen, Trinity Chung, Jaimyn Drake, Ethan Paul Foster, Jensen Gao, Vitor Guizilini, David Antonio Herrera, Minho Heo, Kyle Hsu, Jiaheng Hu, Muhammad Zubair Irshad, Donovon Jackson, Charlotte Le, Yunshuang Li, Kevin Lin, Roy Lin, Zehan Ma, Abhiram Maddukuri, Suvir Mirchandani, Daniel Morton, Tony Nguyen, Abigail O'Neill, Rosario Scalise, Derick Seale, Victor Son, Stephen Tian, Emi Tran, Andrew E. Wang, Yilin Wu, Annie Xie, Jingyun Yang, Patrick Yin, Yunchu Zhang, Osbert Bastani, Glen Berseth, Jeannette Bohg, Ken Goldberg, Abhinav Gupta, Abhishek Gupta, Dinesh Jayaraman, Joseph J Lim, Jitendra Malik, Roberto Martín-Martín, Subramanian Ramamoorthy, Dorsa Sadigh, Shuran Song, Jiajun Wu, Michael C. Yip, Yuke Zhu, Thomas Kollar, Sergey Levine, Chelsea Finn

Comments Project website: https://droid-dataset.github.io/

CoT-VLA: Visual Chain-of-Thought Reasoning for Vision-Language-Action Models

Qingqing Zhao, Yao Lu, Moo Jin Kim, Zipeng Fu, Zhuoyang Zhang, Yecheng Wu, Zhaoshuo Li, Qianli Ma, Song Han, Chelsea Finn, Ankur Handa, Ming-Yu Liu, Donglai Xiang, Gordon Wetzstein, Tsung-Yi Lin

Comments Project website: https://cot-vla.github.io/

Journal ref CVPR 2025

SERL: A Software Suite for Sample-Efficient Robotic Reinforcement Learning

Jianlan Luo, Zheyuan Hu, Charles Xu, You Liang Tan, Jacob Berg, Archit Sharma, Stefan Schaal, Chelsea Finn, Abhishek Gupta, Sergey Levine

Comments ICRA 2024

Robotic Control via Embodied Chain-of-Thought Reasoning

Michał Zawalski, William Chen, Karl Pertsch, Oier Mees, Chelsea Finn, Sergey Levine

Comments Project Website: https://embodied-cot.github.io. Updated funding information

MJ-VIDEO: Fine-Grained Benchmarking and Rewarding Video Preferences in Video Generation

Haibo Tong, Zhaoyang Wang, Zhaorun Chen, Haonian Ji, Shi Qiu, Siwei Han, Kexin Geng, Zhongkai Xue, Yiyang Zhou, Peng Xia, Mingyu Ding, Rafael Rafailov, Chelsea Finn, Huaxiu Yao

FAST: Efficient Action Tokenization for Vision-Language-Action Models

Karl Pertsch, Kyle Stachowicz, Brian Ichter, Danny Driess, Suraj Nair, Quan Vuong, Oier Mees, Chelsea Finn, Sergey Levine

Comments Website: https://www.pi.website/research/fast

Towards System 2 Reasoning in LLMs: Learning How to Think With Meta Chain-of-Thought

Violet Xiang, Charlie Snell, Kanishk Gandhi, Alon Albalak, Anikait Singh, Chase Blagden, Duy Phung, Rafael Rafailov, Nathan Lile, Dakota Mahan, Louis Castricato, Jan-Philipp Franken, Nick Haber, Chelsea Finn

Correct-N-Contrast: A Contrastive Approach for Improving Robustness to Spurious Correlations

Michael Zhang, Nimit S. Sohoni, Hongyang R. Zhang, Chelsea Finn, Christopher Ré

Comments 38 pages, 14 figures. ICML 2022 Long Talk

Policy Agnostic RL: Offline RL and Online RL Fine-Tuning of Any Class and Backbone

Max Sobol Mark, Tian Gao, Georgia Gabriela Sampaio, Mohan Kumar Srirama, Archit Sharma, Chelsea Finn, Aviral Kumar

Scaling Laws for Reward Model Overoptimization in Direct Alignment Algorithms

Rafael Rafailov, Yaswanth Chittepu, Ryan Park, Harshit Sikchi, Joey Hejna, Bradley Knox, Chelsea Finn, Scott Niekum

Comments 30 pages, 38th Conference on Neural Information Processing Systems (NeurIPS 2024)

Grounding by Trying: LLMs with Reinforcement Learning-Enhanced Retrieval

Sheryl Hsu, Omar Khattab, Chelsea Finn, Archit Sharma

ALOHA Unleashed: A Simple Recipe for Robot Dexterity

Tony Z. Zhao, Jonathan Tompson, Danny Driess, Pete Florence, Kamyar Ghasemipour, Chelsea Finn, Ayzaan Wahid

Generative Reward Models

Dakota Mahan, Duy Van Phung, Rafael Rafailov, Chase Blagden, Nathan Lile, Louis Castricato, Jan-Philipp Fränken, Chelsea Finn, Alon Albalak

Helpful DoggyBot: Open-World Object Fetching using Legged Robots and Vision-Language Models

Qi Wu, Zipeng Fu, Xuxin Cheng, Xiaolong Wang, Chelsea Finn

Comments Project website: https://helpful-doggybot.github.io/

Calibrating Language Models with Adaptive Temperature Scaling

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

Comments EMNLP 2024

Disentangling Length from Quality in Direct Preference Optimization

Ryan Park, Rafael Rafailov, Stefano Ermon, Chelsea Finn

OpenVLA: An Open-Source Vision-Language-Action Model

Moo Jin Kim, Karl Pertsch, Siddharth Karamcheti, Ted Xiao, Ashwin Balakrishna, Suraj Nair, Rafael Rafailov, Ethan Foster, Grace Lam, Pannag Sanketi, Quan Vuong, Thomas Kollar, Benjamin Burchfiel, Russ Tedrake, Dorsa Sadigh, Sergey Levine, Percy Liang, Chelsea Finn

Comments Website: https://openvla.github.io/

Clarify: Improving Model Robustness With Natural Language Corrections

Yoonho Lee, Michelle S. Lam, Helena Vasconcelos, Michael S. Bernstein, Chelsea Finn

Comments UIST 2024. Interface code available at https://github.com/yoonholee/Clarify

D5RL: Diverse Datasets for Data-Driven Deep Reinforcement Learning

Rafael Rafailov, Kyle Hatch, Anikait Singh, Laura Smith, Aviral Kumar, Ilya Kostrikov, Philippe Hansen-Estruch, Victor Kolev, Philip Ball, Jiajun Wu, Chelsea Finn, Sergey Levine

Comments RLC 2024

Efficient Imitation Learning with Conservative World Models

Victor Kolev, Rafael Rafailov, Kyle Hatch, Jiajun Wu, Chelsea Finn

Comments Oral presentation, L4DC 2024

Agent Q: Advanced Reasoning and Learning for Autonomous AI Agents

Pranav Putta, Edmund Mills, Naman Garg, Sumeet Motwani, Chelsea Finn, Divyansh Garg, Rafael Rafailov

From $r$ to $Q^*$: Your Language Model is Secretly a Q-Function

Rafael Rafailov, Joey Hejna, Ryan Park, Chelsea Finn

Comments COLM 2024

Direct Preference Optimization: Your Language Model is Secretly a Reward Model

Rafael Rafailov, Archit Sharma, Eric Mitchell, Stefano Ermon, Christopher D. Manning, Chelsea Finn

PERSONA: A Reproducible Testbed for Pluralistic Alignment

Louis Castricato, Nathan Lile, Rafael Rafailov, Jan-Philipp Fränken, Chelsea Finn

Surgical Robot Transformer (SRT): Imitation Learning for Surgical Tasks

Ji Woong Kim, Tony Z. Zhao, Samuel Schmidgall, Anton Deguet, Marin Kobilarov, Chelsea Finn, Axel Krieger

Comments 8 pages

Mobility VLA: Multimodal Instruction Navigation with Long-Context VLMs and Topological Graphs

Hao-Tien Lewis Chiang, Zhuo Xu, Zipeng Fu, Mithun George Jacob, Tingnan Zhang, Tsang-Wei Edward Lee, Wenhao Yu, Connor Schenck, David Rendleman, Dhruv Shah, Fei Xia, Jasmine Hsu, Jonathan Hoech, Pete Florence, Sean Kirmani, Sumeet Singh, Vikas Sindhwani, Carolina Parada, Chelsea Finn, Peng Xu, Sergey Levine, Jie Tan

MJ-Bench: Is Your Multimodal Reward Model Really a Good Judge for Text-to-Image Generation?

Zhaorun Chen, Yichao Du, Zichen Wen, Yiyang Zhou, Chenhang Cui, Zhenzhen Weng, Haoqin Tu, Chaoqi Wang, Zhengwei Tong, Qinglan Huang, Canyu Chen, Qinghao Ye, Zhihong Zhu, Yuqing Zhang, Jiawei Zhou, Zhuokai Zhao, Rafael Rafailov, Chelsea Finn, Huaxiu Yao

Comments 42 pages, 13 figures, 33 tables

Commonsense Reasoning for Legged Robot Adaptation with Vision-Language Models

Annie S. Chen, Alec M. Lessing, Andy Tang, Govind Chada, Laura Smith, Sergey Levine, Chelsea Finn

Comments 27 pages