Ignat Georgiev
@imgeorgiev
Robot Learning PhD @ Georgia Tech
We have a new ICML paper! Adaptive Horizon Actor Critic (AHAC). Joint work with @krishpopdesu @xujie7979 @eric_heiden @animesh_garg AHAC is a first-order model-based RL algorithm that learns high-dimensional tasks in minutes and outperforms PPO by 40%. 🧵(1/4)
Imitation learning has seen great success, but IL policies still struggle with OOD observations We designed a 3D backbone, Adapt3R, that can combine with your favorite IL algorithm to enable zero-shot generalization to unseen embodiments and camera viewpoints!
Robotics data is expensive and slow to collect. Robotics labs and companies spend months just to collect around 10k hours of demonstration data, all while that much video is uploaded to YouTube every 20 minutes. However, none of this video data contains action labels. How can we…
I have Post-Doc, PhD, and Research Assistant positions available, for a new project working with me on dexterous robot learning! Come and join me, my team, and our robots, at Imperial College London! 🤖🧑💻🇬🇧💂🤖 See robot-learning.uk/dexterous-robo… for more info. Please share/retweet!
Behavior Cloning (BC) has been the new hot thing in #Robotics for the past year. I finally sucked my teeth into it and tried to decipher why it has worked so well for problems where RL struggles imgeorgiev.com/2025-01-31-why… Let me know if you have other interesting perspectives!
How can robots compositionally generalize over multi-object multi-robot tasks for long-horizon planning? At #CoRL2024, we introduce Generative Factor Chaining (GFC), a diffusion-based approach that composes spatial-temporal factors into long-horizon skill plans. (1/7)