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To realize effective large-scale, real-world robotic applications, we must evaluate how well our robot policies adapt to changes in environmental conditions.
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CoppeliaSim (formerly V-REP): a Versatile and Scalable Robot Simulation Framework
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Proximal policy optimization algorithms
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Scalable Deep Reinforcement Learning for Vision-Based Robotic Manipulation
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RoboNet: Large-Scale Multi-Robot Learning
Sudeep Dasari, Frederik Ebert, Stephen Tian, Suraj Nair, Bernadette Bucher, Karl Schmeckpeper, Siddharth Singh, Sergey Levine, and Chelsea Finn · 2020
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Actionet: An interactive end-to-end platform for task-based data collection and augmentation in 3d environment
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Rlbench: The robot learning benchmark & learning environment
Stephen James, Zicong Ma, David Rovick Arrojo, and Andrew J Davison · 2020
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Reinforcement Learning with Augmented Data
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Active Domain Randomization
Bhairav Mehta, Manfred Diaz, Florian Golemo, Christopher J. Pal, and Liam Paull · 2020
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Learning continuous control actions for robotic grasping with reinforcement learning
Asad Ali Shahid, Loris Roveda, Dario Piga, and Francesco Braghin · 2020
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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
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Generalization in reinforcement learning by soft data augmentation
Nicklas Hansen and Xiaolong Wang · 2021
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Isaac gym: High performance gpu-based physics simulation for robot learning
Viktor Makoviychuk, Lukasz Wawrzyniak, Yunrong Guo, Michelle Lu, Kier Storey, Miles Macklin, David Hoeller, Nikita Rudin, Arthur Allshire, Ankur Handa, et al · 2021
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Learning transferable visual models from natural language supervision
Alec Radford, Jong Wook Kim, Chris Hallacy, Aditya Ramesh, Gabriel Goh, Sandhini Agarwal, Girish Sastry, Amanda Askell, Pamela Mishkin, Jack Clark, et al · 2021
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AR2-D2: Training a Robot Without a Robot
Jiafei Duan, Yi Ru Wang, Mohit Shridhar, Dieter Fox, and Ranjay Krishna · 2023
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Kiana Ehsani, Tanmay Gupta, Rose Hendrix, Jordi Salvador, Luca Weihs, Kuo-Hao Zeng, Kunal Pratap Singh, Yejin Kim, Winson Han, Alvaro Herrasti, et al · 2023
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Act3D: 3D Feature Field Transformers for Multi-Task Robotic Manipulation
Theophile Gervet, Zhou Xian, Nikolaos Gkanatsios, and Katerina Fragkiadaki · 2023
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Rvt: Robotic view transformer for 3d object manipulation
Ankit Goyal, Jie Xu, Yijie Guo, Valts Blukis, Yu-Wei Chao, and Dieter Fox · 2023
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Mohit Shridhar, Lucas Manuelli, and Dieter Fox · 2021
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Contact-graspnet: Efficient 6-dof grasp generation in cluttered scenes
Martin Sundermeyer, Arsalan Mousavian, Rudolph Triebel, and Dieter Fox · 2021
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Kitchenshift: Evaluating zero-shot generalization of imitation-based policy learning under domain shifts
Eliot Xing, Abhinav Gupta, Sam Powers, and Victoria Dean · 2021
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Do as i can, not as i say: Grounding language in robotic affordances
Michael Ahn, Anthony Brohan, Noah Brown, Yevgen Chebotar, Omar Cortes, Byron David, Chelsea Finn, Chuyuan Fu, Keerthana Gopalakrishnan, Karol Hausman, et al · 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, Alex Herzog, Jasmine Hsu, Julian Ibarz, Brian Ichter, Alex Irpan, Tomas Jackson, Sally Jesmonth, Nikhil Joshi, Ryan 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 Ryoo, Grecia Salazar, Pannag Sanketi, Kevin Sayed, Jaspiar Singh, Sumedh Sontakke, Austin Stone, Clayton Tan, Huong Tran, Vincent Vanhoucke, Steve Vega, Quan Vuong, Fei Xia, Ted Xiao, Peng Xu, Sichun Xu, Tianhe Yu, and Brianna Zitkovich · 2022
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ProcTHOR: Large-Scale Embodied AI Using Procedural Generation
Matt Deitke, Eli VanderBilt, Alvaro Herrasti, Luca Weihs, Kiana Ehsani, Jordi Salvador, Winson Han, Eric Kolve, Aniruddha Kembhavi, and Roozbeh Mottaghi · 2022
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Reinforcement Learning with Neural Radiance Fields
Danny Driess, Ingmar Schubert, Pete Florence, Yunzhu Li, and Marc Toussaint · 2022
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Ego4D: Around the World in 3,000 Hours of Egocentric Video
Kristen Grauman, Andrew Westbury, and et al · 2022
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Minho Heo, Youngwoon Lee, Doohyun Lee, and Joseph J. Lim · 2023
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Voxposer: Composable 3d value maps for robotic manipulation with language models
Wenlong Huang, Chen Wang, Ruohan Zhang, Yunzhu Li, Jiajun Wu, and Li Fei-Fei · 2023
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A taxonomy and review of generalization research in NLP
Dieuwke Hupkes, Mario Giulianelli, Verna Dankers, Mikel Artetxe, Yanai Elazar, Tiago Pimentel, Christos Christodoulopoulos, Karim Lasri, Naomi Saphra, Arabella Sinclair, et al · 2023
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Haotian Liu, Chunyuan Li, Qingyang Wu, and Yong Jae Lee · 2023
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MimicGen: A Data Generation System for Scalable Robot Learning using Human Demonstrations
Ajay Mandlekar, Soroush Nasiriany, Bowen Wen, Iretiayo Akinola, Yashraj Narang, Linxi Fan, Yuke Zhu, and Dieter Fox · 2023
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Asid: Active exploration for system identification and reconstruction in robotic manipulation
Marius Memmel, Andrew Wagenmaker, Chuning Zhu, Dieter Fox, and Abhishek Gupta · 2023
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Cal-ql: Calibrated offline rl pre-training for efficient online fine-tuning
Mitsuhiko Nakamoto, Yuexiang Zhai, Anikait Singh, Max Sobol Mark, Yi Ma, Chelsea Finn, Aviral Kumar, and Sergey Levine · 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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Open x-embodiment: Robotic learning datasets and rt-x models
Abhishek Padalkar, Acorn Pooley, Ajinkya Jain, Alex Bewley, Alex Herzog, Alex Irpan, Alexander Khazatsky, Anant Rai, Anikait Singh, Anthony Brohan, et al · 2023
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Habitat 3.0: A co-habitat for humans, avatars and robots
Xavier Puig, Eric Undersander, Andrew Szot, Mikael Dallaire Cote, Tsung-Yen Yang, Ruslan Partsey, Ruta Desai, Alexander William Clegg, Michal Hlavac, So Yeon Min, et al · 2023
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KITE: Keypoint-Conditioned Policies for Semantic Manipulation
Priya Sundaresan, Suneel Belkhale, Dorsa Sadigh, and Jeannette Bohg · 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 , 2023
Annie Xie, Lisa Lee, Ted Xiao, and Chelsea Finn · 2023
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Multi-Task Real Robot Learning with Generalizable Neural Feature Fields
Yanjie Ze, Ge Yan, Yueh-Hua Wu, Annabella Macaluso, Yuying Ge, Jianglong Ye, Nicklas Hansen, Li Erran Li, and Xiaolong Wang · 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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Learning generalizable manipulation policies with object-centric 3d representations
Yifeng Zhu, Zhenyu Jiang, Peter Stone, and Yuke Zhu · 2023
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Droid: A large-scale in-the-wild robot manipulation dataset
Alexander Khazatsky, Karl Pertsch, and et al · 2024
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Libero: Benchmarking knowledge transfer for lifelong robot learning
Bo Liu, Yifeng Zhu, Chongkai Gao, Yihao Feng, Qiang Liu, Yuke Zhu, and Peter Stone · 2024
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FMB: a Functional Manipulation Benchmark for Generalizable Robotic Learning
Jianlan Luo, Charles Xu, Fangchen Liu, Liam Tan, Zipeng Lin, Jeffrey Wu, Pieter Abbeel, and Sergey Levine · 2024
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Rl-vigen: A reinforcement learning benchmark for visual generalization
Zhecheng Yuan, Sizhe Yang, Pu Hua, Can Chang, Kaizhe Hu, and Huazhe Xu · 2024
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PlayFusion: Skill Acquisition via Diffusion from Language-Annotated Play
Lili Chen, Shikhar Bahl, and Deepak Pathak · 2029
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