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Training general robotic policies from heterogeneous data for different tasks is a significant challenge.
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Which tasks should be learned together in multi-task learning?
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Rapid trial-and-error learning with simulation supports flexible tool use and physical reasoning
Kelsey R Allen, Kevin A Smith, and Joshua B Tenenbaum · 2020
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Understanding human hands in contact at internet scale
Dandan Shan, Jiaqi Geng, Michelle Shu, and David F Fouhey · 2020
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Cheng Chi, Siyuan Feng, Yilun Du, Zhenjia Xu, Eric Cousineau, Benjamin Burchfiel, and Shuran Song · 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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Se (3)-diffusionfields: Learning smooth cost functions for joint grasp and motion optimization through diffusion
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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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Hierarchical policy blending as inference for reactive robot control
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Energy-based models as zero-shot planners for compositional scene rearrangement
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Reduce, reuse, recycle: Compositional generation with energy-based diffusion models and mcmc
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Compositional diffusion-based continuous constraint solvers
Zhutian Yang, Jiayuan Mao, Yilun Du, Jiajun Wu, Joshua B Tenenbaum, Tomás Lozano-Pérez, and Leslie Pack Kaelbling · 2023
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Leveraging language for accelerated learning of tool manipulation
Allen Z Ren, Bharat Govil, Tsung-Yen Yang, Karthik R Narasimhan, and Anirudha Majumdar · 2023
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Fleet policy learning via weight merging and an application to robotic tool-use, 2023
Lirui Wang, Kaiqing Zhang, Allan Zhou, Max Simchowitz, and Russ Tedrake · 2023
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Toolflownet: Robotic manipulation with tools via predicting tool flow from point clouds
Daniel Seita, Yufei Wang, Sarthak J Shetty, Edward Yao Li, Zackory Erickson, and David Held · 2023
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Diffusion-based generation, optimization, and planning in 3d scenes
Siyuan Huang, Zan Wang, Puhao Li, Baoxiong Jia, Tengyu Liu, Yixin Zhu, Wei Liang, and Song-Chun Zhu · 2023
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Provable guarantees for generative behavior cloning: Bridging low-level stability and high-level behavior
Adam Block, Ali Jadbabaie, Daniel Pfrommer, Max Simchowitz, and Russ Tedrake · 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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Perceiver-actor: A multi-task transformer for robotic manipulation
Mohit Shridhar, Lucas Manuelli, and Dieter Fox · 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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Gensim: Generating robotic simulation tasks via large language models
Lirui Wang, Yiyang Ling, Zhecheng Yuan, Mohit Shridhar, Chen Bao, Yuzhe Qin, Bailin Wang, Huazhe Xu, and Xiaolong Wang · 2023
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Videodex: Learning dexterity from internet videos
Kenneth Shaw, Shikhar Bahl, and Deepak Pathak · 2023
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Creative robot tool use with large language models
Mengdi Xu, Peide Huang, Wenhao Yu, Shiqi Liu, Xilun Zhang, Yaru Niu, Tingnan Zhang, Fei Xia, Jie Tan, and Ding Zhao · 2023
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Multiscope: Disambiguating in-hand object poses with proprioception and tactile feedback
Andrea Sipos and Nima Fazeli · 2023
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Gelsight svelte: A human finger-shaped single-camera tactile robot finger with large sensing coverage and proprioceptive sensing
Jialiang Zhao and Edward H Adelson · 2023
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