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It is essential yet challenging for future home-assistant robots to understand and manipulate diverse 3D objects in daily human environments.
Ros: an open-source robot operating system
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Humanoid motion planning for dual-arm manipulation and re-grasping tasks
Nikolaus Vahrenkamp, Dmitry Berenson, Tamim Asfour, James Kuffner, and Rüdiger Dillmann · 2009
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Single- and dual-arm motion planning with heuristic search
Benjamin Cohen, Sachin Chitta, and Maxim Likhachev · 2014
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Adam: A method for stochastic optimization
Diederik P Kingma and Jimmy Ba · 2014
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Shapenet: An information-rich 3d model repository
Angel X Chang, Thomas Funkhouser, Leonidas Guibas, Pat Hanrahan, Qixing Huang, Zimo Li, Silvio Savarese, Manolis Savva, Shuran Song, Hao Su, et al · 2015
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Real-time grasp detection using convolutional neural networks
Joseph Redmon and Anelia Angelova · 2015
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Semantically-enriched 3d models for common-sense knowledge
Manolis Savva, Angel X Chang, and Pat Hanrahan · 2015
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Learning structured output representation using deep conditional generative models
Kihyuk Sohn, Honglak Lee, and Xinchen Yan · 2015
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3d shapenets: A deep representation for volumetric shapes
Zhirong Wu, Shuran Song, Aditya Khosla, Fisher Yu, Linguang Zhang, Xiaoou Tang, and Jianxiong Xiao · 2015
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Learning dexterous manipulation policies from experience and imitation
Vikash Kumar, Abhishek Gupta, Emanuel Todorov, and Sergey Levine · 2016
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Supersizing self-supervision: Learning to grasp from 50k tries and 700 robot hours
Lerrel Pinto and Abhinav Gupta · 2016
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Hindsight experience replay
Marcin Andrychowicz, Filip Wolski, Alex Ray, Jonas Schneider, Rachel Fong, Peter Welinder, Bob McGrew, Josh Tobin, OpenAI Pieter Abbeel, and Wojciech Zaremba · 2017
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Affordance detection for task-specific grasping using deep learning
Mia Kokic, Johannes A Stork, Joshua A Haustein, and Danica Kragic · 2017
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Pointnet++: Deep hierarchical feature learning on point sets in a metric space
Charles Ruizhongtai Qi, Li Yi, Hao Su, and Leonidas J Guibas · 2017
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Posecnn: A convolutional neural network for 6d object pose estimation in cluttered scenes
Yu Xiang, Tanner Schmidt, Venkatraman Narayanan, and Dieter Fox · 2017
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Soft actor-critic algorithms and applications
Tuomas Haarnoja, Aurick Zhou, Kristian Hartikainen, George Tucker, Sehoon Ha, Jie Tan, Vikash Kumar, Henry Zhu, Abhishek Gupta, Pieter Abbeel, and Sergey Levine · 2018
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Functionality representations and applications for shape analysis
Ruizhen Hu, Manolis Savva, and Oliver van Kaick · 2018
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Autonomous dual-arm manipulation of familiar objects
Dmytro Pavlichenko, Diego Rodriguez, Max Schwarz, Christian Lenz, Arul Selvam Periyasamy, and Sven Behnke · 2018
Cited alongside, same era.
Learning Complex Dexterous Manipulation with Deep Reinforcement Learning and Demonstrations
Aravind Rajeswaran, Vikash Kumar, Abhishek Gupta, Giulia Vezzani, John Schulman, Emanuel Todorov, and Sergey Levine · 2018
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Learning ambidextrous robot grasping policies
Jeffrey Mahler, Matthew Matl, Vishal Satish, Michael Danielczuk, Bill DeRose, Stephen McKinley, and Ken Goldberg · 2019
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Partnet: A large-scale benchmark for fine-grained and hierarchical part-level 3d object understanding
Kaichun Mo, Shilin Zhu, Angel X Chang, Li Yi, Subarna Tripathi, Leonidas J Guibas, and Hao Su · 2019
Cited alongside, same era.
6-dof graspnet: Variational grasp generation for object manipulation
Arsalan Mousavian, Clemens Eppner, and Dieter Fox · 2019
Cited alongside, same era.
DexYCB: A benchmark for capturing hand grasping of objects
Yu-Wei Chao, Wei Yang, Yu Xiang, Pavlo Molchanov, Ankur Handa, Jonathan Tremblay, Yashraj S. Narang, Karl Van Wyk, Umar Iqbal, Stan Birchfield, Jan Kautz, and Dieter Fox · 2021
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A system for general in-hand object re-orientation
Tao Chen, Jie Xu, and Pulkit Agrawal · 2021
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Act the part: Learning interaction strategies for articulated object part discovery
Samir Yitzhak Gadre, Kiana Ehsani, and Shuran Song · 2021
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Long-horizon multi-robot rearrangement planning for construction assembly
Valentin Noah Hartmann, Andreas Orthey, Danny Driess, Ozgur S. Oguz, and Marc Toussaint · 2021
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V-mao: Generative modeling for multi-arm manipulation of articulated objects
Xingyu Liu and Kris M Kitani · 2021
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Anytime multi-arm task and motion planning for pick-and-place of individual objects via handoffs
Rahul Shome and Kostas E. Bekris · 2019
Cited alongside, same era.
Normalized object coordinate space for category-level 6d object pose and size estimation
He Wang, Srinath Sridhar, Jingwei Huang, Julien Valentin, Shuran Song, and Leonidas J Guibas · 2019
Cited alongside, same era.
On the continuity of rotation representations in neural networks
Yi Zhou, Connelly Barnes, Jingwan Lu, Jimei Yang, and Hao Li · 2019
Cited alongside, same era.
Rearrangement: A challenge for embodied ai
Dhruv Batra, Angel X Chang, Sonia Chernova, Andrew J Davison, Jia Deng, Vladlen Koltun, Sergey Levine, Jitendra Malik, Igor Mordatch, Roozbeh Mottaghi, et al · 2020
Cited alongside, same era.
Efficient bimanual manipulation using learned task schemas
Rohan Chitnis, Shubham Tulsiani, Saurabh Gupta, and Abhinav Gupta · 2020
Cited alongside, same era.
Learning a decentralized multi-arm motion planner
Huy Ha, Jingxi Xu, and Shuran Song · 2020
Cited alongside, same era.
Learning task-oriented grasping from human activity datasets
Mia Kokic, Danica Kragic, and Jeannette Bohg · 2020
Cited alongside, same era.
Learning dexterous grasping with object-centric visual affordances
Priyanka Mandikal and Kristen Grauman · 2021
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Where2act: From pixels to actions for articulated 3d objects
Kaichun Mo, Leonidas J. Guibas, Mustafa Mukadam, Abhinav Gupta, and Shubham Tulsiani · 2021
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Asymmetric self-play for automatic goal discovery in robotic manipulation
OpenAI OpenAI, Matthias Plappert, Raul Sampedro, Tao Xu, Ilge Akkaya, Vineet Kosaraju, Peter Welinder, Ruben D’Sa, Arthur Petron, Henrique P d O Pinto, et al · 2021
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igibson 1.0: a simulation environment for interactive tasks in large realistic scenes
Bokui Shen, Fei Xia, Chengshu Li, Roberto Martín-Martín, Linxi Fan, Guanzhi Wang, Claudia Pérez-D’Arpino, Shyamal Buch, Sanjana Srivastava, Lyne P. Tchapmi, Micael E. Tchapmi, Kent Vainio, Josiah Wong, Li Fei-Fei, and Silvio Savarese · 2021
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Fast, high-quality two-arm rearrangement in synchronous, monotone tabletop setups
Rahul Shome, Kiril Solovey, Jingjin Yu, Kostas Bekris, and Dan Halperin · 2021
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Yian Wang, Ruihai Wu, Kaichun Mo, Jiaqi Ke, Qingnan Fan, Leonidas Guibas, and Hao Dong · 2021
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Towards human-level bimanual dexterous manipulation with reinforcement learning, 2022
Yuanpei Chen, Yaodong Yang, Tianhao Wu, Shengjie Wang, Xidong Feng, Jiechuang Jiang, Stephen Marcus McAleer, Hao Dong, Zongqing Lu, and Song-Chun Zhu · 2022
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Robot cooking with stir-fry: Bimanual non-prehensile manipulation of semi-fluid objects
Junjia Liu, Yiting Chen, Zhipeng Dong, Shixiong Wang, Sylvain Calinon, Miao Li, and Fei Chen · 2022
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Dexvip: Learning dexterous grasping with human hand pose priors from video
Priyanka Mandikal and Kristen Grauman · 2022
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Fabricflownet: Bimanual cloth manipulation with a flow-based policy
Thomas Weng, Sujay Man Bajracharya, Yufei Wang, Khush Agrawal, and David Held · 2022
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VAT-mart: Learning visual action trajectory proposals for manipulating 3d ARTiculated objects
Ruihai Wu, Yan Zhao, Kaichun Mo, Zizheng Guo, Yian Wang, Tianhao Wu, Qingnan Fan, Xuelin Chen, Leonidas Guibas, and Hao Dong · 2022
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Learning foresightful dense visual affordance for deformable object manipulation
Ruihai Wu, Chuanruo Ning, and Hao Dong · 2023
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