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Behavior Cloning (BC) methods are effective at learning complex manipulation tasks.
Is imitation learning the route to humanoid robots?
Stefan Schaal · 1999
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Denoising diffusion probabilistic models
Jonathan Ho, Ajay Jain, and Pieter Abbeel · 2006
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A tutorial on energy-based learning
Yann LeCun, Sumit Chopra, Raia Hadsell, M Ranzato, and Fujie Huang · 2006
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Robot programming by demonstration
Aude Billard, Sylvain Calinon, Rüdiger Dillmann, and Stefan Schaal · 2008
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Transporter networks: Rearranging the visual world for robotic manipulation, 2020
Andy Zeng, Pete Florence, Jonathan Tompson, Stefan Welker, Jonathan Chien, Maria Attarian, Travis Armstrong, Ivan Krasin, Dan Duong, Ayzaan Wahid, Vikas Sindhwani, and Johnny Lee · 2010
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Score-based generative modeling through stochastic differential equations
Yang Song, Jascha Sohl-Dickstein, Diederik P. Kingma, Abhishek Kumar, Stefano Ermon, and Ben Poole · 2011
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Adam: A method for stochastic optimization
Diederik P. Kingma and Jimmy Ba · 2014
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Recurrent models of visual attention
Volodymyr Mnih, Nicolas Heess, Alex Graves, and Koray Kavukcuoglu · 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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Deep residual learning for image recognition
Kaiming He, Xiangyu Zhang, Shaoqing Ren, and Jian Sun · 2015
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One-shot visual imitation learning via meta-learning
Chelsea Finn, Tianhe Yu, Tianhao Zhang, Pieter Abbeel, and Sergey Levine · 2017
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Pay attention! - robustifying a deep visuomotor policy through task-focused attention
Pooya Abolghasemi, Amir Mazaheri, Mubarak Shah, and Ladislau Bölöni · 2018
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Learning manipulation skills from a single demonstration
Peter Englert and Marc Toussaint · 2018
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Deep imitation learning for complex manipulation tasks from virtual reality teleoperation
T. Zhang, Z. McCarthy, O. Jow, D. Lee, X. Chen, K. Goldberg, and P. Abbeel · 2018
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Causal confusion in imitation learning
Pim De Haan, Dinesh Jayaraman, and Sergey Levine · 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
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Strictly batch imitation learning by energy-based distribution matching
Daniel Jarrett, Ioana Bica, and Mihaela van der Schaar · 2020
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Learning to generalize across long-horizon tasks from human demonstrations
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, Alex Herzog, Jasmine Hsu, et al · 2022
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Video diffusion models, 2022
Jonathan Ho, Tim Salimans, Alexey Gritsenko, William Chan, Mohammad Norouzi, and David J. Fleet · 2022
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On cad informed adaptive robotic assembly
Yotto Koga, Heather Kerrick, and Sachin Chitta · 2022
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Progressive distillation for fast sampling of diffusion models
Tim Salimans and Jonathan Ho · 2022
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Viola: Imitation learning for vision-based manipulation with object proposal priors
Yifeng Zhu, Abhishek Joshi, Peter Stone, and Yuke Zhu · 2022
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Ajay Mandlekar, Danfei Xu, Roberto Martín-Martín, Silvio Savarese, and Li Fei-Fei · 2020
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SAPIEN: A simulated part-based interactive environment
Fanbo Xiang, Yuzhe Qin, Kaichun Mo, Yikuan Xia, Hao Zhu, Fangchen Liu, Minghua Liu, Hanxiao Jiang, Yifu Yuan, He Wang, Li Yi, Angel X. Chang, Leonidas J. Guibas, and Hao Su · 2020
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Implicit behavioral cloning, 2021
Pete Florence, Corey Lynch, Andy Zeng, Oscar Ramirez, Ayzaan Wahid, Laura Downs, Adrian Wong, Johnny Lee, Igor Mordatch, and Jonathan Tompson · 2021
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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, and Roberto Martín-Martín · 2021
Cited alongside, same era.
Chen Wang, Rui Wang, Danfei Xu, Ajay Mandlekar, Li Fei-Fei, and Silvio Savarese · 2021
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Transporter networks: Rearranging the visual world for robotic manipulation
Andy Zeng, Pete Florence, Jonathan Tompson, Stefan Welker, Jonathan Chien, Maria Attarian, Travis Armstrong, Ivan Krasin, Dan Duong, Vikas Sindhwani, et al · 2021
Cited alongside, same era.
Is conditional generative modeling all you need for decision-making?
Anurag Ajay, Yilun Du, Abhi Gupta, Joshua Tenenbaum, Tommi Jaakkola, and Pulkit Agrawal · 2022
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Diffusion policy: Visuomotor policy learning via action diffusion, 2023
Cheng Chi, Siyuan Feng, Yilun Du, Zhenjia Xu, Eric Cousineau, Benjamin Burchfiel, and Shuran Song · 2023
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Generative skill chaining: Long-horizon skill planning with diffusion models
Utkarsh Aashu Mishra, Shangjie Xue, Yongxin Chen, and Danfei Xu · 2023
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Imitating human behaviour with diffusion models
Tim Pearce, Tabish Rashid, Anssi Kanervisto, Dave Bignell, Mingfei Sun, Raluca Georgescu, Sergio Valcarcel Macua, Shan Zheng Tan, Ida Momennejad, Katja Hofmann, et al · 2023
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Goal-conditioned imitation learning using score-based diffusion policies
Moritz Reuss, Maximilian Li, Xiaogang Jia, and Rudolf Lioutikov · 2023
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Neural grasp distance fields for robot manipulation, 2023
Thomas Weng, David Held, Franziska Meier, and Mustafa Mukadam · 2023
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Guided conditional diffusion for controllable traffic simulation
Ziyuan Zhong, Davis Rempe, Danfei Xu, Yuxiao Chen, Sushant Veer, Tong Che, Baishakhi Ray, and Marco Pavone · 2023
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