Abhinav Agarwal

Revisiting Open-Loop Execution in Robotics: Toward Reactive, Higher-Performing Policies

Action chunking --- the practice of predicting a sequence of actions and executing a prefix open-loop --- has emerged as a key enabler of recent progress in imitation learning for robotic manipulation. However, executing long open-loop prefixes reduces reactivity, limiting policies'ability to correct for errors. Furthe...