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Learning generalizable visual representations from Internet data has yielded promising results for robotics.
Imagenet: A large-scale hierarchical image database
Jia Deng, Wei Dong, Richard Socher, Li-Jia Li, Kai Li, and Li Fei-Fei · 2009
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Shapenet: An information-rich 3d model repository
Angel X Chang, Thomas Funkhouser, Leonidas Guibas, Pat Hanrahan, Qixing Huang, Zimo Li, Silvio Savarese, Manolis Savva, Shuran Song, Hao Su, et al · 2015
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Learning state representations with robotic priors
Rico Jonschkowski and Oliver Brock · 2015
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3d shapenets: A deep representation for volumetric shapes
Zhirong Wu, Shuran Song, Aditya Khosla, Fisher Yu, Linguang Zhang, Xiaoou Tang, and Jianxiong Xiao · 2015
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A point set generation network for 3d object reconstruction from a single image
Haoqiang Fan, Hao Su, and Leonidas J Guibas · 2017
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The” something something” video database for learning and evaluating visual common sense
Raghav Goyal, Samira Ebrahimi Kahou, Vincent Michalski, Joanna Materzynska, Susanne Westphal, Heuna Kim, Valentin Haenel, Ingo Fruend, Peter Yianilos, Moritz Mueller-Freitag, et al · 2017
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Octnet: Learning deep 3d representations at high resolutions
Gernot Riegler, Ali Osman Ulusoy, and Andreas Geiger · 2017
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Generalised dice overlap as a deep learning loss function for highly unbalanced segmentations
Carole H Sudre, Wenqi Li, Tom Vercauteren, Sebastien Ourselin, and M Jorge Cardoso · 2017
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Attention is all you need
Ashish Vaswani, Noam Shazeer, Niki Parmar, Jakob Uszkoreit, Llion Jones, Aidan N Gomez, Łukasz Kaiser, and Illia Polosukhin · 2017
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Bert: Pre-training of deep bidirectional transformers for language understanding
Jacob Devlin, Ming-Wei Chang, Kenton Lee, and Kristina Toutanova · 2018
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Toward robotic manipulation
Matthew T Mason · 2018
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Lvis: A dataset for large vocabulary instance segmentation
Agrim Gupta, Piotr Dollar, and Ross Girshick · 2019
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Videobert: A joint model for video and language representation learning
Chen Sun, Austin Myers, Carl Vondrick, Kevin Murphy, and Cordelia Schmid · 2019
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Revisiting point cloud classification: A new benchmark dataset and classification model on real-world data
Mikaela Angelina Uy, Quang-Hieu Pham, Binh-Son Hua, Thanh Nguyen, and Sai-Kit Yeung · 2019
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Dynamic graph cnn for learning on point clouds
Yue Wang, Yongbin Sun, Ziwei Liu, Sanjay E Sarma, Michael M Bronstein, and Justin M Solomon · 2019
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On the continuity of rotation representations in neural networks
Yi Zhou, Connelly Barnes, Jingwan Lu, Jimei Yang, and Hao Li · 2019
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End-to-end object detection with transformers
Nicolas Carion, Francisco Massa, Gabriel Synnaeve, Nicolas Usunier, Alexander Kirillov, and Sergey Zagoruyko · 2020
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Graspnet-1billion: A large-scale benchmark for general object grasping
Hao-Shu Fang, Chenxi Wang, Minghao Gou, and Cewu Lu · 2020
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Deep learning for 3d point clouds: A survey
Yulan Guo, Hanyun Wang, Qingyong Hu, Hao Liu, Li Liu, and Mohammed Bennamoun · 2020
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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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A survey on learning-based robotic grasping
Kilian Kleeberger, Richard Bormann, Werner Kraus, and Marco F Huber · 2020
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Image augmentation is all you need: Regularizing deep reinforcement learning from pixels
Ilya Kostrikov, Denis Yarats, and Rob Fergus · 2020
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Language-conditioned imitation learning for robot manipulation tasks
Simon Stepputtis, Joseph Campbell, Mariano Phielipp, Stefan Lee, Chitta Baral, and Heni Ben Amor · 2020
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Learning invariant representations for reinforcement learning without reconstruction
Amy Zhang, Rowan McAllister, Roberto Calandra, Yarin Gal, and Sergey Levine · 2020
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ACRONYM: A large-scale grasp dataset based on simulation
Clemens Eppner, Arsalan Mousavian, and Dieter Fox · 2021
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3d-future: 3d furniture shape with texture
Huan Fu, Rongfei Jia, Lin Gao, Mingming Gong, Binqiang Zhao, Steve Maybank, and Dacheng Tao · 2021
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Pct: Point cloud transformer
Meng-Hao Guo, Jun-Xiong Cai, Zheng-Ning Liu, Tai-Jiang Mu, Ralph R Martin, and Shi-Min Hu · 2021
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Openclip, 2021
Gabriel Ilharco, Mitchell Wortsman, Ross Wightman, Cade Gordon, Nicholas Carlini, Rohan Taori, Achal Dave, Vaishaal Shankar, Hongseok Namkoong, John Miller, Hannaneh Hajishirzi, Ali Farhadi, and Ludwig Schmidt · 2021
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Simultaneous semantic and collision learning for 6-dof grasp pose estimation
Yiming Li, Tao Kong, Ruihang Chu, Yifeng Li, Peng Wang, and Lei Li · 2021
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The surprising effectiveness of representation learning for visual imitation
Jyothish Pari, Nur Muhammad Shafiullah, Sridhar Pandian Arunachalam, and Lerrel Pinto · 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
Cited alongside, same era.
Rrl: Resnet as representation for reinforcement learning
Rutav Shah and Vikash Kumar · 2021
Masked visual pre-training for motor control
Tete Xiao, Ilija Radosavovic, Trevor Darrell, and Jitendra Malik · 2022
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Point-bert: Pre-training 3d point cloud transformers with masked point modeling
Xumin Yu, Lulu Tang, Yongming Rao, Tiejun Huang, Jie Zhou, and Jiwen Lu · 2022
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VIOLA: Object-centric imitation learning for vision-based robot manipulation
Yifeng Zhu, Abhishek Joshi, Peter Stone, and Yuke Zhu · 2022
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Homanga Bharadhwaj, Jay Vakil, Mohit Sharma, Abhinav Gupta, Shubham Tulsiani, and Vikash Kumar · 2023
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Polarnet: 3d point clouds for language-guided robotic manipulation
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Cited alongside, same era.
Cliport: What and where pathways for robotic manipulation
Mohit Shridhar, Lucas Manuelli, and Dieter Fox · 2021
Cited alongside, same era.
Contact-graspnet: Efficient 6-dof grasp generation in cluttered scenes
Martin Sundermeyer, Arsalan Mousavian, Rudolph Triebel, and Dieter Fox · 2021
Cited alongside, same era.
Ocid-ref: A 3d robotic dataset with embodied language for clutter scene grounding
Ke-Jyun Wang, Yun-Hsuan Liu, Hung-Ting Su, Jen-Wei Wang, Yu-Siang Wang, Winston Hsu, and Wen-Chin Chen · 2021
Cited alongside, same era.
Point transformer
Hengshuang Zhao, Li Jiang, Jiaya Jia, Philip HS Torr, and Vladlen Koltun · 2021
Cited alongside, same era.
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, et al · 2022
Cited alongside, same era.
Abo: Dataset and benchmarks for real-world 3d object understanding
Jasmine Collins, Shubham Goel, Kenan Deng, Achleshwar Luthra, Leon Xu, Erhan Gundogdu, Xi Zhang, Tomas F Yago Vicente, Thomas Dideriksen, Himanshu Arora, et al · 2022
Cited alongside, same era.
Runpei Dong, Zekun Qi, Linfeng Zhang, Junbo Zhang, Jianjian Sun, Zheng Ge, Li Yi, and Kaisheng Ma · 2022
Cited alongside, same era.
Shizhe Chen, Ricardo Garcia, Cordelia Schmid, and Ivan Laptev · 2023
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An unbiased look at datasets for visuo-motor pre-training
Sudeep Dasari, Mohan Kumar Srirama, Unnat Jain, and Abhinav Gupta · 2023
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Objaverse: A universe of annotated 3d objects
Matt Deitke, Dustin Schwenk, Jordi Salvador, Luca Weihs, Oscar Michel, Eli VanderBilt, Ludwig Schmidt, Kiana Ehsani, Aniruddha Kembhavi, and Ali Farhadi · 2023
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Blenderproc2: A procedural pipeline for photorealistic rendering
Maximilian Denninger, Dominik Winkelbauer, Martin Sundermeyer, Wout Boerdijk, Markus Knauer, Klaus H. Strobl, Matthias Humt, and Rudolph Triebel · 2023
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Palm-e: An embodied multimodal language model
Danny Driess, Fei Xia, Mehdi SM Sajjadi, Corey Lynch, Aakanksha Chowdhery, Brian Ichter, Ayzaan Wahid, Jonathan Tompson, Quan Vuong, Tianhe Yu, et al · 2023
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Act3d: Infinite resolution action detection transformer for robotic manipulation
Theophile Gervet, Zhou Xian, Nikolaos Gkanatsios, and Katerina Fragkiadaki · 2023
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Instruction-driven history-aware policies for robotic manipulations
Pierre-Louis Guhur, Shizhe Chen, Ricardo Garcia Pinel, Makarand Tapaswi, Ivan Laptev, and Cordelia Schmid · 2023
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Conceptfusion: Open-set multimodal 3d mapping
Krishna Murthy Jatavallabhula, Alihusein Kuwajerwala, Qiao Gu, Mohd Omama, Tao Chen, Shuang Li, Ganesh Iyer, Soroush Saryazdi, Nikhil Keetha, Ayush Tewari, et al · 2023
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Language-driven representation learning for robotics
Siddharth Karamcheti, Suraj Nair, Annie S. Chen, Thomas Kollar, Chelsea Finn, Dorsa Sadigh, and Percy Liang · 2023
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Openshape: Scaling up 3d shape representation towards open-world understanding
Minghua Liu, Ruoxi Shi, Kaiming Kuang, Yinhao Zhu, Xuanlin Li, Shizhong Han, Hong Cai, Fatih Porikli, and Hao Su · 2023
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Vl-grasp: a 6-dof interactive grasp policy for language-oriented objects in cluttered indoor scenes
Yuhao Lu, Yixuan Fan, Beixing Deng, Fangfu Liu, Yali Li, and Shengjin Wang · 2023
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Where are we in the search for an artificial visual cortex for embodied intelligence?
Arjun Majumdar, Karmesh Yadav, Sergio Arnaud, Yecheng Jason Ma, Claire Chen, Sneha Silwal, Aryan Jain, Vincent-Pierre Berges, Pieter Abbeel, Jitendra Malik, et al · 2023
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Deep learning approaches to grasp synthesis: A review
Rhys Newbury, Morris Gu, Lachlan Chumbley, Arsalan Mousavian, Clemens Eppner, Jürgen Leitner, Jeannette Bohg, Antonio Morales, Tamim Asfour, Danica Kragic, et al · 2023
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Openscene: 3d scene understanding with open vocabularies
Songyou Peng, Kyle Genova, Chiyu Jiang, Andrea Tagliasacchi, Marc Pollefeys, Thomas Funkhouser, et al · 2023
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Contrast with reconstruct: Contrastive 3d representation learning guided by generative pretraining
Zekun Qi, Runpei Dong, Guofan Fan, Zheng Ge, Xiangyu Zhang, Kaisheng Ma, and Li Yi · 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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Mask3d: Mask transformer for 3d semantic instance segmentation
Jonas Schult, Francis Engelmann, Alexander Hermans, Or Litany, Siyu Tang, and Bastian Leibe · 2023
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Open x-embodiment: Robotic learning datasets and rt-x models
Quan Vuong, Sergey Levine, Homer Rich Walke, Karl Pertsch, Anikait Singh, Ria Doshi, Charles Xu, Jianlan Luo, Liam Tan, Dhruv Shah, et al · 2023
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Bridgedata v2: A dataset for robot learning at scale
Homer Walke, Kevin Black, Abraham Lee, Moo Jin Kim, Max Du, Chongyi Zheng, Tony Zhao, Philippe Hansen-Estruch, Quan Vuong, Andre He, et al · 2023
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Weikang Wan, Haoran Geng, Yun Liu, Zikang Shan, Yaodong Yang, Li Yi, and He Wang · 2023
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Scaling robot learning with semantically imagined experience
Tianhe Yu, Ted Xiao, Austin Stone, Jonathan Tompson, Anthony Brohan, Su Wang, Jaspiar Singh, Clayton Tan, Dee M, Jodilyn Peralta, Brian Ichter, Karol Hausman, and Fei Xia · 2023
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http://www.open3d.org/docs/latest/tutorial/Advanced/pointcloud_outlier_removal.html , 2024
Open3d point cloud outlier removal · 2024
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