Mandlekar, Ajay

26 publications

ICLR 2025 AHA: A Vision-Language-Model for Detecting and Reasoning over Failures in Robotic Manipulation Jiafei Duan, Wilbert Pumacay, Nishanth Kumar, Yi Ru Wang, Shulin Tian, Wentao Yuan, Ranjay Krishna, Dieter Fox, Ajay Mandlekar, Yijie Guo

CoRL 2025 DreamGen: Unlocking Generalization in Robot Learning Through Video World Models Joel Jang, Seonghyeon Ye, Zongyu Lin, Jiannan Xiang, Johan Bjorck, Yu Fang, Fengyuan Hu, Spencer Huang, Kaushil Kundalia, Yen-Chen Lin, Loïc Magne, Ajay Mandlekar, Avnish Narayan, You Liang Tan, Guanzhi Wang, Jing Wang, Qi Wang, Yinzhen Xu, Xiaohui Zeng, Kaiyuan Zheng, Ruijie Zheng, Ming-Yu Liu, Luke Zettlemoyer, Dieter Fox, Jan Kautz, Scott Reed, Yuke Zhu, Linxi Fan

NeurIPS 2025 Generalizable Domain Adaptation for Sim-and-Real Policy Co-Training Shuo Cheng, Liqian Ma, Zhenyang Chen, Ajay Mandlekar, Caelan Reed Garrett, Danfei Xu

ICLR 2025 Latent Action Pretraining from Videos Seonghyeon Ye, Joel Jang, Byeongguk Jeon, Se June Joo, Jianwei Yang, Baolin Peng, Ajay Mandlekar, Reuben Tan, Yu-Wei Chao, Bill Yuchen Lin, Lars Liden, Kimin Lee, Jianfeng Gao, Luke Zettlemoyer, Dieter Fox, Minjoon Seo

ICML 2025 One-Step Diffusion Policy: Fast Visuomotor Policies via Diffusion Distillation Zhendong Wang, Max Li, Ajay Mandlekar, Zhenjia Xu, Jiaojiao Fan, Yashraj Narang, Linxi Fan, Yuke Zhu, Yogesh Balaji, Mingyuan Zhou, Ming-Yu Liu, Yu Zeng

ICLR 2025 What Matters in Learning from Large-Scale Datasets for Robot Manipulation Vaibhav Saxena, Matthew Bronars, Nadun Ranawaka Arachchige, Kuancheng Wang, Woo Chul Shin, Soroush Nasiriany, Ajay Mandlekar, Danfei Xu

CoRL 2024 NOD-TAMP: Generalizable Long-Horizon Planning with Neural Object Descriptors Shuo Cheng, Caelan Reed Garrett, Ajay Mandlekar, Danfei Xu

CoRL 2024 SPIRE: Synergistic Planning, Imitation, and Reinforcement Learning for Long-Horizon Manipulation Zihan Zhou, Animesh Garg, Dieter Fox, Caelan Reed Garrett, Ajay Mandlekar

L4DC 2024 Signatures Meet Dynamic Programming: Generalizing Bellman Equations for Trajectory Following Motoya Ohnishi, Iretiayo Akinola, Jie Xu, Ajay Mandlekar, Fabio Ramos

CoRL 2024 SkillMimicGen: Automated Demonstration Generation for Efficient Skill Learning and Deployment Caelan Reed Garrett, Ajay Mandlekar, Bowen Wen, Dieter Fox

TMLR 2024 Voyager: An Open-Ended Embodied Agent with Large Language Models Guanzhi Wang, Yuqi Xie, Yunfan Jiang, Ajay Mandlekar, Chaowei Xiao, Yuke Zhu, Linxi Fan, Anima Anandkumar

CoRL 2023 Human-in-the-Loop Task and Motion Planning for Imitation Learning Ajay Mandlekar, Caelan Reed Garrett, Danfei Xu, Dieter Fox

CoRL 2023 Imitating Task and Motion Planning with Visuomotor Transformers Murtaza Dalal, Ajay Mandlekar, Caelan Reed Garrett, Ankur Handa, Ruslan Salakhutdinov, Dieter Fox

CoRL 2023 MimicGen: A Data Generation System for Scalable Robot Learning Using Human Demonstrations Ajay Mandlekar, Soroush Nasiriany, Bowen Wen, Iretiayo Akinola, Yashraj Narang, Linxi Fan, Yuke Zhu, Dieter Fox

NeurIPSW 2023 Voyager: An Open-Ended Embodied Agent with Large Language Models Guanzhi Wang, Yuqi Xie, Yunfan Jiang, Ajay Mandlekar, Chaowei Xiao, Yuke Zhu, Linxi Fan, Anima Anandkumar

NeurIPSW 2023 Voyager: An Open-Ended Embodied Agent with Large Language Models Guanzhi Wang, Yuqi Xie, Yunfan Jiang, Ajay Mandlekar, Chaowei Xiao, Yuke Zhu, Linxi Fan, Anima Anandkumar

NeurIPSW 2023 Voyager: An Open-Ended Embodied Agent with Large Language Models Guanzhi Wang, Yuqi Xie, Yunfan Jiang, Ajay Mandlekar, Chaowei Xiao, Yuke Zhu, Linxi Fan, Anima Anandkumar

CoRL 2022 Learning and Retrieval from Prior Data for Skill-Based Imitation Learning Soroush Nasiriany, Tian Gao, Ajay Mandlekar, Yuke Zhu

NeurIPS 2022 MineDojo: Building Open-Ended Embodied Agents with Internet-Scale Knowledge Linxi Fan, Guanzhi Wang, Yunfan Jiang, Ajay Mandlekar, Yuncong Yang, Haoyi Zhu, Andrew Tang, De-An Huang, Yuke Zhu, Anima Anandkumar

NeurIPS 2022 MoCoDA: Model-Based Counterfactual Data Augmentation Silviu Pitis, Elliot Creager, Ajay Mandlekar, Animesh Garg

ICMLW 2022 MoCoDA: Model-Based Counterfactual Data Augmentation Silviu Pitis, Elliot Creager, Ajay Mandlekar, Animesh Garg

CoRL 2021 Error-Aware Imitation Learning from Teleoperation Data for Mobile Manipulation Josiah Wong, Albert Tung, Andrey Kurenkov, Ajay Mandlekar, Li Fei-Fei, Silvio Savarese, Roberto Martín-Martín

CoRL 2021 S4RL: Surprisingly Simple Self-Supervision for Offline Reinforcement Learning in Robotics Samarth Sinha, Ajay Mandlekar, Animesh Garg

CoRL 2021 What Matters in Learning from Offline Human Demonstrations for Robot Manipulation Ajay Mandlekar, Danfei Xu, Josiah Wong, Soroush Nasiriany, Chen Wang, Rohun Kulkarni, Li Fei-Fei, Silvio Savarese, Yuke Zhu, Roberto Martín-Martín

CoRL 2019 AC-Teach: A Bayesian Actor-Critic Method for Policy Learning with an Ensemble of Suboptimal Teachers Andrey Kurenkov, Ajay Mandlekar, Roberto Martin-Martin, Silvio Savarese, Animesh Garg

CoRL 2018 ROBOTURK: A Crowdsourcing Platform for Robotic Skill Learning Through Imitation Ajay Mandlekar, Yuke Zhu, Animesh Garg, Jonathan Booher, Max Spero, Albert Tung, Julian Gao, John Emmons, Anchit Gupta, Emre Orbay, Silvio Savarese, Li Fei-Fei