Ben Burchfiel

48 posts

Ben Burchfiel

@Ben_Burchfiel

Research Scientist working on Computer Vision, Robotics, and Machine Learning.

Cambridge, MA Katılım Temmuz 2012

43 Takip Edilen184 Takipçiler

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Cheng Chi@chichengcc·16 Şub

Can we collect robot data without any robots? Introducing Universal Manipulation Interface (UMI) An open-source $400 system from @Stanford designed to democratize robot data collection 0 teleop -> autonomously wash dishes (precise), toss (dynamic), and fold clothes (bimanual)

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Ben Burchfiel@Ben_Burchfiel·11 Mar

@shashuec Twitter isn't ideal for nuance but at a very high level: it handles inconsistency (specifically multimodality) in the training demonstrations very well and has stable training behavior.

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Shashwat Gupta 🚀 AI SaaS Founder@shashuec·11 Mar

@Ben_Burchfiel That's interesting to hear. It's amazing how unexpected challenges can arise even in well-developed areas. I'm curious, could you explain a bit more about how casting behavior prediction as a denoising diffusion process helped address the bottleneck?

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Ben Burchfiel@Ben_Burchfiel·10 Mar

It's an exciting feeling when science surprises you. We were not expecting policy formulation to be a significant bottleneck for behavior cloning, but it was. We saw significant improvements across a many tasks by casting behavior prediction as a denoising diffusion process.

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Ben Burchfiel@Ben_Burchfiel·10 Mar

@peteflorence @chichengcc @SongShuran It's satisfying to see things come full circle. The early deep-learning phase of robotics saw a temporary decline in probabilistic-method use, only for generative approaches that model behavior distributions (e.g. IBC and DiffusionPolicy) to come back with a vengeance.

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Pete Florence@peteflorence·8 Mar

Very nice! Was hoping somebody would get Diffusion working really well for real-world robot policy learning. Comprehensive display of results (see website), nice visualizations and tasks. 👏 @chichengcc and @SongShuran's lab together with Siyuan and Eric (TRI) and Yilun (MIT) !

AK@_akhaliq

Diffusion Policy: Visuomotor Policy Learning via Action Diffusion abs: arxiv.org/abs/2303.04137 project page: diffusion-policy.cs.columbia.edu

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Ben Burchfiel@Ben_Burchfiel·10 Mar

Still a lot of room to do to make these approaches ready for practical commercial deployment, but the rate of change is encouraging. Manuscript for DiffusionPolicy: arxiv.org/abs/2303.04137 Project page for DiffusionPolicy: diffusion-policy.cs.columbia.edu

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Ben Burchfiel@Ben_Burchfiel·10 Mar

Ultimately we found a 46.9% improvement vs prior SOTA, but perhaps the most surprising result was the stability improvement. While it doesn't show up in benchmarks, not having to exhaustively evaluate and cherry-pick golden checkpoints is a huge step for BC usability.

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Shuran Song@SongShuran·1 Tem

Congratulations to @chichengcc for winning the Best Paper Award and @Zhenjia_Xu for the Best Systems Paper Finalist at #RSS2022 !! 🥳🎉

Robotics: Science and Systems@RoboticsSciSys

Big congrats to the winners (and the finalists!) of the #RSS2022 awards: - Best paper award: roboticsconference.org/program/papers… - Best systems paper award: roboticsconference.org/program/papers… - Best student paper award: roboticsconference.org/program/papers…

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Ben Burchfiel@Ben_Burchfiel·10 May

@CUSEAS @ColumbiaCompSci @SongShuran @NSF @ColumbiaScience @Columbia Congratulations!

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Columbia Engineering@CUSEAS·9 May

Congrats to our @ColumbiaCompSci Prof Shuran Song @SongShuran, who's won an @NSF CAREER award to enable #Robots to learn on their own and adapt to new environments. bit.ly/3smzRj2 @ColumbiaScience @Columbia

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Ben Burchfiel@Ben_Burchfiel·21 Nis

This was really fun to be a part of and I'm thrilled that first author @chichengcc will be joining us at TRI this summer!

Shuran Song@SongShuran

How to precisely swing an *unknown* rope to hit a target? It is a challenging task even for us due to complex system dynamics - introduced by object deformation and high-speed dynamic actions. Iterative Residule Policy (irp.cs.columbia.edu) is our attempt, details🧵⬇️1/n

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Shuran Song@SongShuran·14 Nis

DextAIRity: Deformable Manipulation Can be a Breeze！#RSS2022 A different way to manipulate objects using controlled airflow that reaches beyond contact 🤖 w. @Zhenjia_Xu, @chichengcc, @Ben_Burchfiel ,@eacousineau, Siyuan Feng @CAIR_lab +@ToyotaResearch 🦾

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Ben Burchfiel@Ben_Burchfiel·21 Nis

Fantastic. You're a world-class developer and engineer; I can't wait to see what this builds into!

Asta Li@asta_li

We've raised a $8.3m war chest to reinvent the paradigm for data privacy on the internet. While we build towards moonshot goals, we ship simple, powerful APIs so developers can build incredible user experiences today. I'm deeply grateful for our team and community. Thank you!

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EFF@EFF·14 Haz

Public universities are planning to threaten more patent lawsuits based on research funded by your tax dollars. That’s not good for the public they serve. eff.org/deeplinks/2021…

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Ben Burchfiel@Ben_Burchfiel·27 Nis

@SecondGentleman - Not wanting to die. - Not wanting to kill others. - Not wanting to get seriously sick. - Not wanting to make others seriously sick. - The strong and rigorous scientific evidence demonstrating the safety and efficacy of the vaccine.

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Douglas Emhoff Archived@SecondGent46·27 Nis

What motivated you to get vaccinated?

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Ben Burchfiel@Ben_Burchfiel·10 Nis

Completely unacceptable. It's only one piece of the puzzle but we need to end qualified immunity, one of the primary enablers of this sort of (largely consequence free) action.

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Hans Noel@ProfHansNoel·24 Mar

Tell me you don't understand how politics works without telling me you don't understand how politics works in fewer words than "Primary Joe Manchin."

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Barack Obama@BarackObama·6 Mar

Elections matter—and we’re seeing why. Congratulations to the Biden Administration and to the American people on a COVID relief bill that will improve the lives of families across the country.

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Senator Reverend Raphael Warnock@SenatorWarnock·6 Mar

It has been a long night, but there is a light at the end of the tunnel. Today, we are passing historic legislation to help millions get back on their feet. From health care to economic assistance, help is around the corner. Thank you GA for giving the Senate this opportunity.

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