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Rapid progress in high-level task planning and code generation for open-world robot manipulation has been witnessed in Embodied AI.
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William E Lorensen and Harvey E Cline · 1998
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The open motion planning library
Ioan A Sucan, Mark Moll, and Lydia E Kavraki · 2012
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Octomap: An efficient probabilistic 3d mapping framework based on octrees
Armin Hornung, Kai M Wurm, Maren Bennewitz, Cyrill Stachniss, and Wolfram Burgard · 2013
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Dense scene reconstruction with points of interest
Qian-Yi Zhou and Vladlen Koltun · 2013
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Reducing the barrier to entry of complex robotic software: a moveit! case study
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The ycb object and model set: Towards common benchmarks for manipulation research
Berk Calli, Arjun Singh, Aaron Walsman, Siddhartha Srinivasa, Pieter Abbeel, and Aaron M Dollar · 2015
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Prm path planning optimization algorithm research
Li Gang and Jingfang Wang · 2016
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Object discovery and grasp detection with a shared convolutional neural network
Di Guo, Tao Kong, Fuchun Sun, and Huaping Liu · 2016
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Roml: A robust feature correspondence approach for matching objects in a set of images
Kui Jia, Tsung-Han Chan, Zinan Zeng, Shenghua Gao, Gang Wang, Tianzhu Zhang, and Yi Ma · 2016
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Kinematic and dynamic modelling of ur5 manipulator
Parham M Kebria, Saba Al-Wais, Hamid Abdi, and Saeid Nahavandi · 2016
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Open3d: A modern library for 3d data processing
Qian-Yi Zhou, Jaesik Park, and Vladlen Koltun · 2018
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Language models are unsupervised multitask learners
Alec Radford, Jeffrey Wu, Rewon Child, David Luan, Dario Amodei, Ilya Sutskever, et al · 2019
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A multi-task convolutional neural network for autonomous robotic grasping in object stacking scenes
Hanbo Zhang, Xuguang Lan, Site Bai, Lipeng Wan, Chenjie Yang, and Nanning Zheng · 2019
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A robust statistics approach for plane detection in unorganized point clouds
Abner MC Araújo and Manuel M Oliveira · 2020
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Language models are few-shot learners
Tom Brown, Benjamin Mann, Nick Ryder, Melanie Subbiah, Jared D Kaplan, Prafulla Dhariwal, Arvind Neelakantan, Pranav Shyam, Girish Sastry, Amanda Askell, et al · 2020
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Graspnet-1billion: A large-scale benchmark for general object grasping
Hao Fang, Chengkun Wang, Yifeng Gao, and Cewu Lu · 2020
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Peter Adriaan Jansen · 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, et al · 2020
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A novel vision-based grasping method under occlusion for manipulating robotic system
Yingying Yu, Zhiqiang Cao, Shuang Liang, Wenjie Geng, and Junzhi Yu · 2020
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Volumetric grasping network: Real-time 6 dof grasp detection in clutter
Michel Breyer, Jen Jen Chung, Lionel Ott, Roland Siegwart, and Juan Nieto · 2021
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A robostack tutorial: Using the robot operating system alongside the conda and jupyter data science ecosystems
Tobias Fischer, Wolf Vollprecht, Silvio Traversaro, Sean Yen, Carlos Herrero, and Michael Milford · 2021
Cited alongside, same era.
Synergies between affordance and geometry: 6-dof grasp detection via implicit representations
Zhenyu Jiang, Yifeng Zhu, Maxwell Svetlik, Kuan Fang, and Yuke Zhu · 2021
Cited alongside, same era.
Neuralrecon: Real-time coherent 3d reconstruction from monocular video
Jiaming Sun, Yiming Xie, Linghao Chen, Xiaowei Zhou, and Hujun Bao · 2021
Cited alongside, same era.
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.
Do as i can and not as i say: Grounding language in robotic affordances
Anygrasp: Robust and efficient grasp perception in spatial and temporal domains
Hao-Shu Fang, Chenxi Wang, Hongjie Fang, Minghao Gou, Jirong Liu, Hengxu Yan, Wenhai Liu, Yichen Xie, and Cewu Lu · 2023
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Visual programming: Compositional visual reasoning without training
Tanmay Gupta and Aniruddha Kembhavi · 2023
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Code as policies: Language model programs for embodied control
Jacky Liang, Wenlong Huang, Fei Xia, Peng Xu, Karol Hausman, Brian Ichter, Pete Florence, and Andy Zeng · 2023
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Text2motion: From natural language instructions to feasible plans
Kevin Lin, Christopher Agia, Toki Migimatsu, Marco Pavone, and Jeannette Bohg · 2023
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Multimodal procedural planning via dual text-image prompting
Yujia Lu, Peng Lu, Zhengyu Chen, Wenchao Zhu, Xi Eric Wang, and William Yang Wang · 2023
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Michael Ahn, Anthony Brohan, Noah Brown, Yevgen Chebotar, Omar Cortes, Byron David, Chelsea Finn, Chuyuan Fu, Keerthana Gopalakrishnan, Karol Hausman, Alex Herzog, Daniel Ho, Jasmine Hsu, Julian Ibarz, Brian Ichter, Alex Irpan, Eric Jang, Rosario Jauregui Ruano, Kyle Jeffrey, Sally Jesmonth, Nikhil Joshi, Ryan Julian, Dmitry Kalashnikov, Yuheng Kuang, Kuang-Huei Lee, Sergey Levine, Yao Lu, Linda Luu, Carolina Parada, Peter Pastor, Jornell Quiambao, Kanishka Rao, Jarek Rettinghouse, Diego Reyes, Pierre Sermanet, Nicolas Sievers, Clayton Tan, Alexander Toshev, Vincent Vanhoucke, Fei Xia, Ted Xiao, Peng Xu, Sichun Xu, Mengyuan Yan, and Andy Zeng · 2022
Cited alongside, same era.
Open-vocabulary queryable scene representations for real world planning
Brian Chen, Fei Xia, Ben Ichter, Karthik Rao, Kaiyu Gopalakrishnan, Michael S Ryoo, Aviv Stone, and Dan Kappler · 2022
Cited alongside, same era.
A survey for in-context learning
Qingxiu Dong, Lei Li, Damai Dai, Ce Zheng, Zhiyong Wu, Baobao Chang, Xu Sun, Jingjing Xu, and Zhifang Sui · 2022
Cited alongside, same era.
Google scanned objects: A high-quality dataset of 3d scanned household items
Laura Downs, Anthony Francis, Nate Koenig, Brandon Kinman, Ryan Hickman, Krista Reymann, Thomas B McHugh, and Vincent Vanhoucke · 2022
Cited alongside, same era.
The franka emika robot: A reference platform for robotics research and education
Sami Haddadin, Sven Parusel, Lars Johannsmeier, Saskia Golz, Simon Gabl, Florian Walch, Mohamadreza Sabaghian, Christoph Jähne, Lukas Hausperger, and Simon Haddadin · 2022
Cited alongside, same era.
Vima: General robot manipulation with multimodal prompts
Yunfan Jiang, Agrim Gupta, Zichen Zhang, Guanzhi Wang, Yongqiang Dou, Yanjun Chen, Li Fei-Fei, Anima Anandkumar, Yuke Zhu, and Linxi Fan · 2022
Cited alongside, same era.
Grounded language-image pre-training
Liunian Harold Li*, Pengchuan Zhang*, Haotian Zhang*, Jianwei Yang, Chunyuan Li, Yiwu Zhong, Lijuan Wang, Lu Yuan, Lei Zhang, Jenq-Neng Hwang, Kai-Wei Chang, and Jianfeng Gao · 2022
Cited alongside, same era.
Planning with large language models via corrective re-prompting
Shrayash Raman, Vinay Cohen, Edward Rosen, Isma Idrees, Dan Paulius, and Stefanie Tellex · 2022
Cited alongside, same era.
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Embodiedgpt: Vision-language pre-training via embodied chain of thought
Yao Mu, Qinglong Zhang, Mengkang Hu, Wenhai Wang, Mingyu Ding, Jun Jin, Bin Wang, Jifeng Dai, Yu Qiao, and Ping Luo · 2023
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Generative agents: Interactive simulacra of human behavior
Joon Sung Park, Joseph C O’Brien, Carrie J Cai, Meredith Ringel Morris, Percy Liang, and Michael S Bernstein · 2023
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Pretrained language models as visual planners for human assistance
Devansh Patel, Hamid Eghbalzadeh, Naman Kamra, Michael L Iuzzolino, Utkarsh Jain, and Raghavendra Desai · 2023
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Sayplan: Grounding large language models using 3d scene graphs for scalable task planning
Krishan Rana, Jesse Haviland, Sourav Garg, Jad Abou-Chakra, Ian Reid, and Niko Suenderhauf · 2023
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Gemini: a family of highly capable multimodal models
Gemini Team, Rohan Anil, Sebastian Borgeaud, Yonghui Wu, Jean-Baptiste Alayrac, Jiahui Yu, Radu Soricut, Johan Schalkwyk, Andrew M Dai, Anja Hauth, et al · 2023
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Llama: Open and efficient foundation language models
Hugo Touvron, Thibaut Lavril, Gautier Izacard, Xavier Martinet, Marie-Anne Lachaux, Timothée Lacroix, Baptiste Rozière, Naman Goyal, Eric Hambro, Faisal Azhar, et al · 2023
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Chatgpt for robotics: Design principles and model abilities
Sai Vemprala, Rogerio Bonatti, Arthur Bucker, and Ashish Kapoor · 2023
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Embodied task planning with large language models
Zhenyu Wu, Ziwei Wang, Xiuwei Xu, Jiwen Lu, and Haibin Yan · 2023
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Translating natural language to planning goals with large-language models
Yujing Xie, Chun yu, Tiancheng Zhu, Jiaze Bai, Zihan Gong, and Harold Soh · 2023
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Pave the way to grasp anything: Transferring foundation models for universal pick-place robots
Jiange Yang, Wenhui Tan, Chuhao Jin, Bei Liu, Jianlong Fu, Ruihua Song, and Limin Wang · 2023
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Homerobot: Open vocab mobile manipulation, 2023
Sriram Yenamandra, Arun Ramachandran, Karmesh Yadav, Austin Wang, Mukul Khanna, Theophile Gervet, Tsung-Yen Yang, Vidhi Jain, Alex William Clegg, John Turner, Zsolt Kira, Manolis Savva, Angel Chang, Devendra Singh Chaplot, Dhruv Batra, Roozbeh Mottaghi, Yonatan Bisk, and Chris Paxton · 2023
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Gamma: Generalizable articulation modeling and manipulation for articulated objects
Qiaojun Yu, Junbo Wang, Wenhai Liu, Ce Hao, Liu Liu, Lin Shao, Weiming Wang, and Cewu Lu · 2023
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Plan4mc: Skill reinforcement learning and planning for open-world minecraft tasks
Haojian Yuan, Chenyi Zhang, Hong Wang, Fengda Xie, Peng Cai, Haoye Dong, and Zijian Lu · 2023
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Yuanchen Ju, Kaizhe Hu, Guowei Zhang, Gu Zhang, Mingrun Jiang, and Huazhe Xu · 2024
Closest in time.
Ok-robot: What really matters in integrating open-knowledge models for robotics
Peiqi Liu, Yaswanth Orru, Chris Paxton, Nur Muhammad Mahi Shafiullah, and Lerrel Pinto · 2024
Closest in time.