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Imitation learning from human demonstrations has shown impressive performance in robotics.
Alvinn: An autonomous land vehicle in a neural network
Dean A. Pomerleau · 1988
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Force strategies for cooperative tasks in multiple mobile manipulation systems
Oussama Khatib, K Yokoi, K Chang, D Ruspini, R Holmberg, A Casal, and A Baader · 1996
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Footstep planning for the honda asimo humanoid
Joel Chestnutt, Manfred Lau, German Cheung, James Kuffner, Jessica Hodgins, and Takeo Kanade · 2005
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Towards a personal robotics development platform: Rationale and design of an intrinsically safe personal robot
Keenan A Wyrobek, Eric H Berger, HF Machiel Van der Loos, and J Kenneth Salisbury · 2008
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Learning motor primitives for robotics
Jens Kober and Jan Peters · 2009
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Learning and generalization of motor skills by learning from demonstration
Peter Pastor, Heiko Hoffmann, Tamim Asfour, and Stefan Schaal · 2009
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Legibility and predictability of robot motion
Anca D Dragan, Kenton CT Lee, and Siddhartha S Srinivasa · 2013
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Dynamical movement primitives: learning attractor models for motor behaviors
Auke Jan Ijspeert, Jun Nakanishi, Heiko Hoffmann, Peter Pastor, and Stefan Schaal · 2013
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Whole body motion control framework for arbitrarily and simultaneously assigned upper-body tasks and walking motion
Doik Kim, Bum-Jae You, and Sang-Rok Oh · 2013
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Learning of compliant human–robot interaction using full-body haptic interface
Luka Peternel and Jan Babič · 2013
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Humanoid robot teleoperation with vibrotactile based balancing feedback
Anais Brygo, Ioannis Sarakoglou, Nadia Garcia-Hernandez, and Nikolaos Tsagarakis · 2014
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Optimization based full body control for the atlas robot
Siyuan Feng, Eric Whitman, X Xinjilefu, and Christopher G Atkeson · 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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Team ihmc’s lessons learned from the darpa robotics challenge trials
Matthew Johnson, Brandon Shrewsbury, Sylvain Bertrand, Tingfan Wu, Daniel Duran, Marshall Floyd, Peter Abeles, Douglas Stephen, Nathan Mertins, Alex Lesman, et al · 2015
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U-net: Convolutional networks for biomedical image segmentation
Olaf Ronneberger, Philipp Fischer, and Thomas Brox · 2015
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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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One-shot visual imitation learning via meta-learning
Chelsea Finn, Tianhe Yu, Tianhao Zhang, Pieter Abbeel, and Sergey Levine · 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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Learning manipulation skills from a single demonstration
Peter Englert and Marc Toussaint · 2018
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Robot learning in homes: Improving generalization and reducing dataset bias
Abhinav Gupta, Adithyavairavan Murali, Dhiraj Prakashchand Gandhi, and Lerrel Pinto · 2018
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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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The darpa robotics challenge finals: Results and perspectives
Eric Krotkov, Douglas Hackett, Larry Jackel, Michael Perschbacher, James Pippine, Jesse Strauss, Gill Pratt, and Christopher Orlowski · 2018
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Using probabilistic movement primitives in robotics
Alexandros Paraschos, Christian Daniel, Jan Peters, and Gerhard Neumann · 2018
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Humanoid dynamic synchronization through whole-body bilateral feedback teleoperation
Joao Ramos and Sangbae Kim · 2018
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One-shot imitation from observing humans via domain-adaptive meta-learning
Tianhe Yu, Chelsea Finn, Annie Xie, Sudeep Dasari, Tianhao Zhang, Pieter Abbeel, and Sergey Levine · 2018
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Whole-body geometric retargeting for humanoid robots
Kourosh Darvish, Yeshasvi Tirupachuri, Giulio Romualdi, Lorenzo Rapetti, Diego Ferigo, Francisco Javier Andrade Chavez, and Daniele Pucci · 2019
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Perceptual values from observation
Ashley D Edwards and Charles L Isbell · 2019
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A multimode teleoperation framework for humanoid loco-manipulation: An application for the icub robot
Luigi Penco, Nicola Scianca, Valerio Modugno, Leonardo Lanari, Giuseppe Oriolo, and Serena Ivaldi · 2019
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Avid: Learning multi-stage tasks via pixel-level translation of human videos
Laura Smith, Nikita Dhawan, Marvin Zhang, Pieter Abbeel, and Sergey Levine · 2019
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A mobile manipulation system for one-shot teaching of complex tasks in homes
Max Bajracharya, James Borders, Dan Helmick, Thomas Kollar, Michael Laskey, John Leichty, Jeremy Ma, Umashankar Nagarajan, Akiyoshi Ochiai, Josh Petersen, et al · 2020
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Transformers for one-shot visual imitation
Sudeep Dasari and Abhinav Kumar Gupta · 2020
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Bootstrap your own latent-a new approach to self-supervised learning
Jean-Bastien Grill, Florian Strub, Florent Altché, Corentin Tallec, Pierre Richemond, Elena Buchatskaya, Carl Doersch, Bernardo Avila Pires, Zhaohan Guo, Mohammad Gheshlaghi Azar, et al · 2020
Cited alongside, same era.
Bilateral humanoid teleoperation system using whole-body exoskeleton cockpit tablis
Yasuhiro Ishiguro, Tasuku Makabe, Yuya Nagamatsu, Yuta Kojio, Kunio Kojima, Fumihito Sugai, Yohei Kakiuchi, Kei Okada, and Masayuki Inaba · 2020
Cited alongside, same era.
Learning latent plans from play
Corey Lynch, Mohi Khansari, Ted Xiao, Vikash Kumar, Jonathan Tompson, Sergey Levine, and Pierre Sermanet · 2020
Cited alongside, same era.
Denoising diffusion implicit models
Jiaming Song, Chenlin Meng, and Stefano Ermon · 2020
Cited alongside, same era.
Transporter networks: Rearranging the visual world for robotic manipulation
Andy Zeng, Peter R. Florence, Jonathan Tompson, Stefan Welker, Jonathan Chien, Maria Attarian, Travis Armstrong, Ivan Krasin, Dan Duong, Vikas Sindhwani, and Johnny Lee · 2020
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 learning of mobile manipulation with reachability behavior priors
Snehal Jauhri, Jan Peters, and Georgia Chalvatzaki · 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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Combining learning-based locomotion policy with model-based manipulation for legged mobile manipulators
Yuntao Ma, Farbod Farshidian, Takahiro Miki, Joonho Lee, and Marco Hutter · 2022
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R3m: A universal visual representation for robot manipulation
Suraj Nair, Aravind Rajeswaran, Vikash Kumar, Chelsea Finn, and Abhinav Gupta · 2022
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Cited alongside, same era.
Human to robot whole-body motion transfer
Miguel Arduengo, Ana Arduengo, Adrià Colomé, Joan Lobo-Prat, and Carme Torras · 2021
Cited alongside, same era.
Hierarchical neural dynamic policies
Shikhar Bahl, Abhinav Gupta, and Deepak Pathak · 2021
Cited alongside, same era.
Humanoid loco-manipulation of pushed carts utilizing virtual reality teleoperation
Jean Chagas Vaz, Dylan Wallace, and Paul Y Oh · 2021
Cited alongside, same era.
Learning generalizable robotic reward functions from" in-the-wild" human videos
Annie S Chen, Suraj Nair, and Chelsea Finn · 2021
Cited alongside, same era.
Model-based inverse reinforcement learning from visual demonstrations
Neha Das, Sarah Bechtle, Todor Davchev, Dinesh Jayaraman, Akshara Rai, and Franziska Meier · 2021
Cited alongside, same era.
Bridge data: Boosting generalization of robotic skills with cross-domain datasets
Frederik Ebert, Yanlai Yang, Karl Schmeckpeper, Bernadette Bucher, Georgios Georgakis, Kostas Daniilidis, Chelsea Finn, and Sergey Levine · 2021
Cited alongside, same era.
Peter R. Florence, Corey Lynch, Andy Zeng, Oscar Ramirez, Ayzaan Wahid, Laura Downs, Adrian S. Wong, Johnny Lee, Igor Mordatch, and Jonathan Tompson · 2021
Cited alongside, same era.
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Real-world robot learning with masked visual pre-training
Ilija Radosavovic, Tete Xiao, Stephen James, Pieter Abbeel, Jitendra Malik, and Trevor Darrell · 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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Perceiver-actor: A multi-task transformer for robotic manipulation
Mohit Shridhar, Lucas Manuelli, and Dieter Fox · 2022
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Demonstrate once, imitate immediately (dome): Learning visual servoing for one-shot imitation learning
Eugene Valassakis, Georgios Papagiannis, Norman Di Palo, and Edward Johns · 2022
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Error-aware imitation learning from teleoperation data for mobile manipulation
Josiah Wong, Albert Tung, Andrey Kurenkov, Ajay Mandlekar, Li Fei-Fei, Silvio Savarese, and Roberto Martín-Martín · 2022
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Learning periodic tasks from human demonstrations
Jingyun Yang, Junwu Zhang, Connor Settle, Akshara Rai, Rika Antonova, and Jeannette Bohg · 2022
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Roboagent: Towards sample efficient robot manipulation with semantic augmentations and action chunking, 2023
H Bharadhwaj, J Vakil, M Sharma, A Gupta, S Tulsiani, and V Kumar · 2023
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Robocat: A self-improving foundation agent for robotic manipulation
Konstantinos Bousmalis, Giulia Vezzani, Dushyant Rao, Coline Devin, Alex X. Lee, Maria Bauza, Todor Davchev, Yuxiang Zhou, Agrim Gupta, Akhil Raju, Antoine Laurens, Claudio Fantacci, Valentin Dalibard, Martina Zambelli, Murilo Martins, Rugile Pevceviciute, Michiel Blokzijl, Misha Denil, Nathan Batchelor, Thomas Lampe, Emilio Parisotto, Konrad Żołna, Scott Reed, Sergio Gómez Colmenarejo, Jon Scholz, Abbas Abdolmaleki, Oliver Groth, Jean-Baptiste Regli, Oleg Sushkov, Tom Rothörl, José Enrique Chen, Yusuf Aytar, Dave Barker, Joy Ortiz, Martin Riedmiller, Jost Tobias Springenberg, Raia Hadsell, Francesco Nori, and Nicolas Heess · 2023
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Rt-2: Vision-language-action models transfer web knowledge to robotic control
Anthony Brohan, Noah Brown, Justice Carbajal, Yevgen Chebotar, Xi Chen, Krzysztof Choromanski, Tianli Ding, Danny Driess, Avinava Dubey, Chelsea Finn, Pete Florence, Chuyuan Fu, Montse Gonzalez Arenas, Keerthana Gopalakrishnan, Kehang Han, Karol Hausman, Alex Herzog, Jasmine Hsu, Brian Ichter, Alex Irpan, Nikhil Joshi, Ryan Julian, Dmitry Kalashnikov, Yuheng Kuang, Isabel Leal, Lisa Lee, Tsang-Wei Edward Lee, Sergey Levine, Yao Lu, Henryk Michalewski, Igor Mordatch, Karl Pertsch, Kanishka Rao, Krista Reymann, Michael Ryoo, Grecia Salazar, Pannag Sanketi, Pierre Sermanet, Jaspiar Singh, Anikait Singh, Radu Soricut, Huong Tran, Vincent Vanhoucke, Quan Vuong, Ayzaan Wahid, Stefan Welker, Paul Wohlhart, Jialin Wu, Fei Xia, Ted Xiao, Peng Xu, Sichun Xu, Tianhe Yu, and Brianna Zitkovich · 2023
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Diffusion policy: Visuomotor policy learning via action diffusion
Cheng Chi, Siyuan Feng, Yilun Du, Zhenjia Xu, Eric Cousineau, Benjamin Burchfiel, and Shuran Song · 2023
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Multi-skill mobile manipulation for object rearrangement
Jiayuan Gu, Devendra Singh Chaplot, Hao Su, and Jitendra Malik · 2023
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Causal policy gradient for whole-body mobile manipulation
Jiaheng Hu, Peter Stone, and Roberto Martín-Martín · 2023
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Skill transformer: A monolithic policy for mobile manipulation
Xiaoyu Huang, Dhruv Batra, Akshara Rai, and Andrew Szot · 2023
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Octo: An open-source generalist robot policy
Octo Model Team, Dibya Ghosh, Homer Walke, Karl Pertsch, Kevin Black, Oier Mees, Sudeep Dasari, Joey Hejna, Charles Xu, Jianlan Luo, Tobias Kreiman, You Liang Tan, Dorsa Sadigh, Chelsea Finn, and Sergey Levine · 2023
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Dynamic mobile manipulation via whole-body bilateral teleoperation of a wheeled humanoid
Amartya Purushottam, Yeongtae Jung, Christopher Xu, and Joao Ramos · 2023
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Robot learning with sensorimotor pre-training
Ilija Radosavovic, Baifeng Shi, Letian Fu, Ken Goldberg, Trevor Darrell, and Jitendra Malik · 2023
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Latent plans for task-agnostic offline reinforcement learning
Erick Rosete-Beas, Oier Mees, Gabriel Kalweit, Joschka Boedecker, and Wolfram Burgard · 2023
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Deep imitation learning for humanoid loco-manipulation through human teleoperation
Mingyo Seo, Steve Han, Kyutae Sim, Seung Hyeon Bang, Carlos Gonzalez, Luis Sentis, and Yuke Zhu · 2023
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Nur Muhammad Mahi Shafiullah, Anant Rai, Haritheja Etukuru, Yiqian Liu, Ishan Misra, Soumith Chintala, and Lerrel Pinto · 2023
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Gnm: A general navigation model to drive any robot
Dhruv Shah, Ajay Sridhar, Arjun Bhorkar, Noriaki Hirose, and Sergey Levine · 2023
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Waypoint-based imitation learning for robotic manipulation
Lucy Xiaoyang Shi, Archit Sharma, Tony Z Zhao, and Chelsea Finn · 2023
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Mimicplay: Long-horizon imitation learning by watching human play
Chen Wang, Linxi Fan, Jiankai Sun, Ruohan Zhang, Li Fei-Fei, Danfei Xu, Yuke Zhu, and Anima Anandkumar · 2023
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Decomposing the generalization gap in imitation learning for visual robotic manipulation
Annie Xie, Lisa Lee, Ted Xiao, and Chelsea Finn · 2023
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Adaptive skill coordination for robotic mobile manipulation
Naoki Yokoyama, Alexander William Clegg, Eric Undersander, Sehoon Ha, Dhruv Batra, and Akshara Rai · 2023
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Learning fine-grained bimanual manipulation with low-cost hardware
Tony Z Zhao, Vikash Kumar, Sergey Levine, and Chelsea Finn · 2023
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