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Fine manipulation tasks, such as threading cable ties or slotting a battery, are notoriously difficult for robots because they require precision, careful coordination of contact forces, and closed-loop visual feedback.
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Dean A. Pomerleau · 1988
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Optimal control for biological movement systems
Weiwei Li · 2006
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Peter Pastor, Heiko Hoffmann, Tamim Asfour, and Stefan Schaal · 2009
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A reduction of imitation learning and structured prediction to no-regret online learning
Stéphane Ross, Geoffrey J. Gordon, and J. Andrew Bagnell · 2010
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Dual arm manipulation - a survey
Christian Smith, Yiannis Karayiannidis, Lazaros Nalpantidis, Xavi Gratal, Peng Qi, Dimos V. Dimarogonas, and Danica Kragic · 2012
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Mujoco: A physics engine for model-based control
Emanuel Todorov, Tom Erez, and Yuval Tassa · 2012
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Diederik P. Kingma and Max Welling · 2013
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Highly dexterous manipulation system - capabilities - part 1, Nov 2014 · 2014
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Deep residual learning for image recognition
Kaiming He, X. Zhang, Shaoqing Ren, and Jian Sun · 2015
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Towards learning hierarchical skills for multi-phase manipulation tasks
Oliver Kroemer, Christian Daniel, Gerhard Neumann, Herke van Hoof, and Jan Peters · 2015
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Learning force-based manipulation of deformable objects from multiple demonstrations
Alex X. Lee, Henry Lu, Abhishek Gupta, Sergey Levine, and P. Abbeel · 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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Deep learning and the information bottleneck principle
Naftali Tishby and Noga Zaslavsky · 2015
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beta-vae: Learning basic visual concepts with a constrained variational framework
Irina Higgins, Loïc Matthey, Arka Pal, Christopher P. Burgess, Xavier Glorot, Matthew M. Botvinick, Shakir Mohamed, and Alexander Lerchner · 2016
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Yan Duan, Marcin Andrychowicz, Bradly C. Stadie, Jonathan Ho, Jonas Schneider, Ilya Sutskever, P. Abbeel, and Wojciech Zaremba · 2017
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Dart: Noise injection for robust imitation learning
Michael Laskey, Jonathan Lee, Roy Fox, Anca D. Dragan, and Ken Goldberg · 2017
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Vision-based multi-task manipulation for inexpensive robots using end-to-end learning from demonstration
Rouhollah Rahmatizadeh, Pooya Abolghasemi, Ladislau Bölöni, and Sergey Levine · 2017
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Ashish Vaswani, Noam M. Shazeer, Niki Parmar, Jakob Uszkoreit, Llion Jones, Aidan N. Gomez, Lukasz Kaiser, and Illia Polosukhin · 2017
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Deep imitation learning for complex manipulation tasks from virtual reality teleoperation
Tianhao Zhang, Zoe McCarthy, Owen Jow, Dennis Lee, Ken Goldberg, and P. Abbeel · 2017
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Task-embedded control networks for few-shot imitation learning
Stephen James, Michael Bloesch, and Andrew J. Davison · 2018
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Hg-dagger: Interactive imitation learning with human experts
Michael Kelly, Chelsea Sidrane, K. Driggs-Campbell, and Mykel J. Kochenderfer · 2018
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Ensembledagger: A bayesian approach to safe imitation learning
Kunal Menda, K. Driggs-Campbell, and Mykel J. Kochenderfer · 2018
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A unified framework for coordinated multi-arm motion planning
Seyed Sina Mirrazavi Salehian, Nadia Figueroa, and Aude Billard · 2018
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Efficient bimanual manipulation using learned task schemas
Rohan Chitnis, Shubham Tulsiani, Saurabh Gupta, and Abhinav Kumar Gupta · 2019
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Causal confusion in imitation learning
Pim de Haan, Dinesh Jayaraman, and Sergey Levine · 2019
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Bert: Pre-training of deep bidirectional transformers for language understanding
Jacob Devlin, Ming-Wei Chang, Kenton Lee, and Kristina Toutanova · 2019
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Self-supervised correspondence in visuomotor policy learning
The surprising effectiveness of representation learning for visual imitation
Jyothish Pari, Nur Muhammad, Sridhar Pandian Arunachalam, and Lerrel Pinto · 2021
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Cliport: What and where pathways for robotic manipulation
Mohit Shridhar, Lucas Manuelli, and Dieter Fox · 2021
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Shadow teleoperation system plays jenga, Mar 2021
srcteam · 2021
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Untangling dense non-planar knots by learning manipulation features and recovery policies
Priya Sundaresan, Jennifer Grannen, Brijen Thananjeyan, Ashwin Balakrishna, Jeffrey Ichnowski, Ellen R. Novoseller, Minho Hwang, Michael Laskey, Joseph Gonzalez, and Ken Goldberg · 2021
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On the sample complexity of stability constrained imitation learning
Stephen Tu, Alexander Robey, Tingnan Zhang, and N. Matni · 2021
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Peter R. Florence, Lucas Manuelli, and Russ Tedrake · 2019
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Dexpilot: Vision-based teleoperation of dexterous robotic hand-arm system
Ankur Handa, Karl Van Wyk, Wei Yang, Jacky Liang, Yu-Wei Chao, Qian Wan, Stan Birchfield, Nathan D. Ratliff, and Dieter Fox · 2019
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End-to-end object detection with transformers
Nicolas Carion, Francisco Massa, Gabriel Synnaeve, Nicolas Usunier, Alexander Kirillov, and Sergey Zagoruyko · 2020
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Transformers for one-shot visual imitation
Sudeep Dasari and Abhinav Kumar Gupta · 2020
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Learning dense visual correspondences in simulation to smooth and fold real fabrics
Aditya Ganapathi, Priya Sundaresan, Brijen Thananjeyan, Ashwin Balakrishna, Daniel Seita, Jennifer Grannen, Minho Hwang, Ryan Hoque, Joseph Gonzalez, Nawid Jamali, Katsu Yamane, Soshi Iba, and Ken Goldberg · 2020
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Untangling dense knots by learning task-relevant keypoints
Jennifer Grannen, Priya Sundaresan, Brijen Thananjeyan, Jeffrey Ichnowski, Ashwin Balakrishna, Minho Hwang, Vainavi Viswanath, Michael Laskey, Joseph Gonzalez, and Ken Goldberg · 2020
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Intermittent visual servoing: Efficiently learning policies robust to instrument changes for high-precision surgical manipulation
Samuel Paradis, Minho Hwang, Brijen Thananjeyan, Jeffrey Ichnowski, Daniel Seita, Danyal Fer, Thomas Low, Joseph Gonzalez, and Ken Goldberg · 2020
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URL https://www.nist.gov/el/intelligent-systems-division-73500/robotic-grasping-and-manipulation-assembly/assembly
Assembly performance metrics and test methods, Apr 2022 · 2022
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URL https://www.shadowrobot.com/teleoperation/
Teleoperated robots - shadow teleoperation system, Nov 2022 · 2022
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Holo-dex: Teaching dexterity with immersive mixed reality
Sridhar Pandian Arunachalam, Irmak Güzey, Soumith Chintala, and Lerrel Pinto · 2022
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Rt-1: Robotics transformer for real-world control at scale
Anthony Brohan, Noah Brown, Justice Carbajal, Yevgen Chebotar, Joseph Dabis, Chelsea Finn, Keerthana Gopalakrishnan, Karol Hausman, Alexander Herzog, Jasmine Hsu, Julian Ibarz, Brian Ichter, Alex Irpan, Tomas Jackson, Sally Jesmonth, Nikhil J. Joshi, Ryan C. Julian, Dmitry Kalashnikov, Yuheng Kuang, Isabel Leal, Kuang-Huei Lee, Sergey Levine, Yao Lu, Utsav Malla, Deeksha Manjunath, Igor Mordatch, Ofir Nachum, Carolina Parada, Jodilyn Peralta, Emily Perez, Karl Pertsch, Jornell Quiambao, Kanishka Rao, Michael S. Ryoo, Grecia Salazar, Pannag R. Sanketi, Kevin Sayed, Jaspiar Singh, Sumedh Anand Sontakke, Austin Stone, Clayton Tan, Huong Tran, Vincent Vanhoucke, Steve Vega, Quan Ho Vuong, F. Xia, Ted Xiao, Peng Xu, Sichun Xu, Tianhe Yu, and Brianna Zitkovich · 2022
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Towards human-level bimanual dexterous manipulation with reinforcement learning
Yuanpei Chen, Yaodong Yang, Tianhao Wu, Shengjie Wang, Xidong Feng, Jiechuan Jiang, Stephen McAleer, Hao Dong, Zongqing Lu, and Song-Chun Zhu · 2022
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Bc-z: Zero-shot task generalization with robotic imitation learning
Eric Jang, Alex Irpan, Mohi Khansari, Daniel Kappler, Frederik Ebert, Corey Lynch, Sergey Levine, and Chelsea Finn · 2022
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Robot peels banana with goal-conditioned dual-action deep imitation learning
Heecheol Kim, Yoshiyuki Ohmura, and Yasuo Kuniyoshi · 2022
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Action chunking as policy compression, Sep 2022
Lucy Lai, Ann Z Huang, and Samuel J Gershman · 2022
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From one hand to multiple hands: Imitation learning for dexterous manipulation from single-camera teleoperation
Yuzhe Qin, Hao Su, and Xiaolong Wang · 2022
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Behavior transformers: Cloning k modes with one stone
Nur Muhammad (Mahi) Shafiullah, Zichen Jeff Cui, Ariuntuya Altanzaya, and Lerrel Pinto · 2022
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Sgtm 2.0: Autonomously untangling long cables using interactive perception
Kaushik Shivakumar, Vainavi Viswanath, Anrui Gu, Yahav Avigal, Justin Kerr, Jeffrey Ichnowski, Richard Cheng, Thomas Kollar, and Ken Goldberg · 2022
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Perceiver-actor: A multi-task transformer for robotic manipulation
Mohit Shridhar, Lucas Manuelli, and Dieter Fox · 2022
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Robotic telekinesis: Learning a robotic hand imitator by watching humans on youtube
Aravind Sivakumar, Kenneth Shaw, and Deepak Pathak · 2022
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A system for imitation learning of contact-rich bimanual manipulation policies
Simon Stepputtis, Maryam Bandari, Stefan Schaal, and Heni Ben Amor · 2022
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Causal imitation learning under temporally correlated noise
Gokul Swamy, Sanjiban Choudhury, J. Andrew Bagnell, and Zhiwei Steven Wu · 2022
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The measurement of proprioceptive accuracy: A systematic literature review
Áron Horváth, Eszter Ferentzi, Kristóf Schwartz, Nina Jacobs, Pieter Meyns, and Ferenc Köteles · 2022
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Nerf in the palm of your hand: Corrective augmentation for robotics via novel-view synthesis
Allan Zhou, Moo Jin Kim, Lirui Wang, Peter R. Florence, and Chelsea Finn · 2023
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