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Imitation learning from human hand motion data presents a promising avenue for imbuing robots with human-like dexterity in real-world manipulation tasks.
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Stefan Schaal · 1999
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A.J. Ijspeert, J. Nakanishi, and S. Schaal · 2002
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Stefan Schaal · 2006
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Jens Kober and Jan Peters · 2009
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Sylvain Calinon, Florent D’halluin, Eric L Sauser, Darwin G Caldwell, and Aude G Billard · 2010
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Jens Kober and Jan Peters · 2010
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Denoising diffusion implicit models
Jiaming Song, Chenlin Meng, and Stefano Ermon · 2010
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Igor Mordatch, Zoran Popović, and Emanuel Todorov · 2012
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Probabilistic movement primitives
Alexandros Paraschos, Christian Daniel, Jan R Peters, and Gerhard Neumann · 2013
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Dexterous manipulation using both palm and fingers
Yunfei Bai and C Karen Liu · 2014
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Real-time behaviour synthesis for dynamic hand-manipulation
Vikash Kumar, Yuval Tassa, Tom Erez, and Emanuel Todorov · 2014
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Dart: Dense articulated real-time tracking
Tanner Schmidt, Richard A Newcombe, and Dieter Fox · 2014
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First-person tele-operation of a humanoid robot
Lars Fritsche, Felix Unverzag, Jan Peters, and Roberto Calandra · 2015
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A robotic hand-arm teleoperation system using human arm/hand with a novel data glove
Bin Fang, Di Guo, Fuchun Sun, Huaping Liu, and Yupei Wu · 2015
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Deep unsupervised learning using nonequilibrium thermodynamics
Jascha Sohl-Dickstein, Eric Weiss, Niru Maheswaranathan, and Surya Ganguli · 2015
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Pointnet: Deep learning on point sets for 3d classification and segmentation
Charles R. Qi, Hao Su, Kaichun Mo, and Leonidas J. Guibas · 2016
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Deep residual learning for image recognition
Kaiming He, Xiangyu Zhang, Shaoqing Ren, and Jian Sun · 2016
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Imitation learning: A survey of learning methods
Ahmed Hussein, Mohamed Medhat Gaber, Eyad Elyan, and Chrisina Jayne · 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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Deep inertial poser: Learning to reconstruct human pose from sparse inertial measurements in real time
Yinghao Huang, Manuel Kaufmann, Emre Aksan, Michael J Black, Otmar Hilliges, and Gerard Pons-Moll · 2018
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Learning manipulation skills from a single demonstration
Peter Englert and Marc Toussaint · 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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Deep imitation learning for complex manipulation tasks from virtual reality teleoperation
Tianhao Zhang, Zoe McCarthy, Owen Jow, Dennis Lee, Xi Chen, Ken Goldberg, and Pieter Abbeel · 2018
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Scaling egocentric vision: The epic-kitchens dataset
Dima Damen, Hazel Doughty, Giovanni Maria Farinella, Sanja Fidler, Antonino Furnari, Evangelos Kazakos, Davide Moltisanti, Jonathan Munro, Toby Perrett, Will Price, et al · 2018
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RelaxedIK: Real-time Synthesis of Accurate and Feasible Robot Arm Motion
Daniel Rakita, Bilge Mutlu, and Michael Gleicher · 2018
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Set transformer: A framework for attention-based permutation-invariant neural networks
Juho Lee, Yoonho Lee, Jungtaek Kim, Adam R. Kosiorek, Seungjin Choi, and Yee Whye Teh · 2018
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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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Freihand: A dataset for markerless capture of hand pose and shape from single rgb images
Christian Zimmermann, Duygu Ceylan, Jimei Yang, Bryan Russell, Max Argus, and Thomas Brox · 2019
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Self-supervised correspondence in visuomotor policy learning
Peter Florence, Lucas Manuelli, and Russ Tedrake · 2019
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Scaling robot supervision to hundreds of hours with roboturk: Robotic manipulation dataset through human reasoning and dexterity
Ajay Mandlekar, Jonathan Booher, Max Spero, Albert Tung, Anchit Gupta, Yuke Zhu, Animesh Garg, Silvio Savarese, and Li Fei-Fei · 2019
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Dexpilot: Vision-based teleoperation of dexterous robotic hand-arm system
Ankur Handa, Karl Van Wyk, Wei Yang, Jacky Liang, Yu-Wei Chao, Qian Wan, Stan Birchfield, Nathan Ratliff, and Dieter Fox · 2020
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Interhand2. 6m: A dataset and baseline for 3d interacting hand pose estimation from a single rgb image
Gyeongsik Moon, Shoou-I Yu, He Wen, Takaaki Shiratori, and Kyoung Mu Lee · 2020
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Honnotate: A method for 3d annotation of hand and object poses
Shreyas Hampali, Mahdi Rad, Markus Oberweger, and Vincent Lepetit · 2020
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Ego4d: Around the world in 3,000 hours of egocentric video
Kristen Grauman, Andrew Westbury, Eugene Byrne, Zachary Chavis, Antonino Furnari, Rohit Girdhar, Jackson Hamburger, Hao Jiang, Miao Liu, Xingyu Liu, et al · 2022
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Robot learning on the job: Human-in-the-loop autonomy and learning during deployment
Huihan Liu, Soroush Nasiriany, Lance Zhang, Zhiyao Bao, and Yuke Zhu · 2022
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Dexterity from touch: Self-supervised pre-training of tactile representations with robotic play
Irmak Guzey, Ben Evans, Soumith Chintala, and Lerrel Pinto · 2023
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Towards generalizable zero-shot manipulation via translating human interaction plans
Homanga Bharadhwaj, Abhinav Gupta, Vikash Kumar, and Shubham Tulsiani · 2023
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Diffusion policy: Visuomotor policy learning via action diffusion
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Sampling-based Exploration for Reinforcement Learning of Dexterous Manipulation
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Sequential dexterity: Chaining dexterous policies for long-horizon manipulation
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Holo-dex: Teaching dexterity with immersive mixed reality
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Probabilistic differentiable filters enable ubiquitous robot control with smartwatches
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