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Embodied agents operating in complex and uncertain environments face considerable challenges.
The princeton shape benchmark
Philip Shilane, Patrick Min, Michael Kazhdan, and Thomas Funkhouser · 2004
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First person action-object detection with egonet
Gedas Bertasius, Hyun Soo Park, Stella X Yu, and Jianbo Shi · 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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More than a million ways to be pushed. a high-fidelity experimental dataset of planar pushing
Kuan-Ting Yu, Maria Bauza, Nima Fazeli, and Alberto Rodriguez · 2016
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Jeffrey Mahler, Jacky Liang, Sherdil Niyaz, Michael Laskey, Richard Doan, Xinyu Liu, Juan Aparicio Ojea, and Ken Goldberg · 2017
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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 · 2017
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Jacquard: A large scale dataset for robotic grasp detection
Amaury Depierre, Emmanuel Dellandréa, and Liming Chen · 2018
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Visual foresight: Model-based deep reinforcement learning for vision-based robotic control
Frederik Ebert, Chelsea Finn, Sudeep Dasari, Annie Xie, Alex Lee, and Sergey Levine · 2018
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Qt-opt: Scalable deep reinforcement learning for vision-based robotic manipulation
Dmitry Kalashnikov, Alex Irpan, Peter Pastor, Julian Ibarz, Alexander Herzog, Eric Jang, Deirdre Quillen, Ethan Holly, Mrinal Kalakrishnan, Vincent Vanhoucke, et al · 2018
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Learning hand-eye coordination for robotic grasping with deep learning and large-scale data collection
Sergey Levine, Peter Pastor, Alex Krizhevsky, Julian Ibarz, and Deirdre Quillen · 2018
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Zero-shot visual imitation
Deepak Pathak, Parsa Mahmoudieh, Guanghao Luo, Pulkit Agrawal, Dian Chen, Yide Shentu, Evan Shelhamer, Jitendra Malik, Alexei A Efros, and Trevor Darrell · 2018
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Time-contrastive networks: Self-supervised learning from video
Pierre Sermanet, Corey Lynch, Yevgen Chebotar, Jasmine Hsu, Eric Jang, Stefan Schaal, Sergey Levine, and Google Brain · 2018
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Contactdb: Analyzing and predicting grasp contact via thermal imaging
Samarth Brahmbhatt, Cusuh Ham, Charles C Kemp, and James Hays · 2019
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Robonet: Large-scale multi-robot learning
Sudeep Dasari, Frederik Ebert, Stephen Tian, Suraj Nair, Bernadette Bucher, et al · 2019
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Planning with goal-conditioned policies
Soroush Nasiriany, Vitchyr Pong, Steven Lin, and Sergey Levine · 2019
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Third-person visual imitation learning via decoupled hierarchical controller
Pratyusha Sharma, Deepak Pathak, and Abhinav Gupta · 2019
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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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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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D4rl: Datasets for deep data-driven reinforcement learning
Justin Fu, Aviral Kumar, Ofir Nachum, George Tucker, and Sergey Levine · 2020
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Human instruction-following with deep reinforcement learning via transfer-learning from text
Felix Hill, Sona Mokra, Nathaniel Wong, and Tim Harley · 2020
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Dense passage retrieval for open-domain question answering
Vladimir Karpukhin, Barlas Oğuz, Sewon Min, Patrick Lewis, Ledell Wu, Sergey Edunov, Danqi Chen, and Wen-tau Yih · 2020
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Language conditioned imitation learning over unstructured data
Corey Lynch and Pierre Sermanet · 2020
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Exploring the limits of transfer learning with a unified text-to-text transformer
Colin Raffel, Noam Shazeer, Adam Roberts, Katherine Lee, Sharan Narang, Michael Matena, Yanqi Zhou, Wei Li, and Peter J Liu · 2020
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Meta-world: A benchmark and evaluation for multi-task and meta reinforcement learning
Tianhe Yu, Deirdre Quillen, Zhanpeng He, Ryan Julian, Karol Hausman, Chelsea Finn, and Sergey Levine · 2020
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Emerging properties in self-supervised vision transformers
Mathilde Caron, Hugo Touvron, Ishan Misra, Hervé Jégou, Julien Mairal, Piotr Bojanowski, and Armand Joulin · 2021
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Learning generalizable robotic reward functions from” in-the-wild” human videos
Annie S Chen, Suraj Nair, and Chelsea Finn · 2021
Linkbert: Pretraining language models with document links
Michihiro Yasunaga, Jure Leskovec, and Percy Liang · 2022
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Pre-trained image encoder for generalizable visual reinforcement learning
Zhecheng Yuan, Zhengrong Xue, Bo Yuan, Xueqian Wang, Yi Wu, Yang Gao, and Huazhe Xu · 2022
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Affordances from human videos as a versatile representation for robotics
Shikhar Bahl, Russell Mendonca, Lili Chen, Unnat Jain, and Deepak Pathak · 2023
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Robocat: A self-improving foundation agent for robotic manipulation
Konstantinos Bousmalis, Giulia Vezzani, Dushyant Rao, Coline Devin, Alex X Lee, Maria Bauza, Todor Davchev, Yuxiang Zhou, Agrim Gupta, Akhil Raju, et al · 2023
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Rh20t: A robotic dataset for learning diverse skills in one-shot
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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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Acronym: A large-scale grasp dataset based on simulation
Clemens Eppner, Arsalan Mousavian, and Dieter Fox · 2021
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Swin transformer: Hierarchical vision transformer using shifted windows
Ze Liu, Yutong Lin, Yue Cao, Han Hu, Yixuan Wei, Zheng Zhang, Stephen Lin, and Baining Guo · 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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Concept2robot: Learning manipulation concepts from instructions and human demonstrations
Lin Shao, Toki Migimatsu, Qiang Zhang, Karen Yang, and Jeannette Bohg · 2021
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Qa-gnn: Reasoning with language models and knowledge graphs for question answering
Michihiro Yasunaga, Hongyu Ren, Antoine Bosselut, Percy Liang, and Jure Leskovec · 2021
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Human-to-robot imitation in the wild
Shikhar Bahl, Abhinav Gupta, and Deepak Pathak · 2022
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Hao-Shu Fang, Hongjie Fang, Zhenyu Tang, Jirong Liu, Junbo Wang, Haoyi Zhu, and Cewu Lu · 2023
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Imagebind: One embedding space to bind them all
Rohit Girdhar, Alaaeldin El-Nouby, Zhuang Liu, Mannat Singh, Kalyan Vasudev Alwala, Armand Joulin, and Ishan Misra · 2023
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Maniskill2: A unified benchmark for generalizable manipulation skills
Jiayuan Gu, Fanbo Xiang, Xuanlin Li, Zhan Ling, Xiqiang Liu, Tongzhou Mu, Yihe Tang, Stone Tao, Xinyue Wei, Yunchao Yao, et al · 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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Junnan Li, Dongxu Li, Silvio Savarese, and Steven Hoi · 2023
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Learning customized visual models with retrieval-augmented knowledge
Haotian Liu, Kilho Son, Jianwei Yang, Ce Liu, Jianfeng Gao, Yong Jae Lee, and Chunyuan Li · 2023
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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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Dinov2: Learning robust visual features without supervision
Maxime Oquab, Timothée Darcet, Théo Moutakanni, Huy Vo, Marc Szafraniec, Vasil Khalidov, Pierre Fernandez, Daniel Haziza, Francisco Massa, Alaaeldin El-Nouby, et al · 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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Robot learning with sensorimotor pre-training
Ilija Radosavovic, Baifeng Shi, Letian Fu, Ken Goldberg, Trevor Darrell, and Jitendra Malik · 2023
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Mutex: Learning unified policies from multimodal task specifications
Rutav Shah, Roberto Martín-Martín, and Yuke Zhu · 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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Next-gpt: Any-to-any multimodal llm
Shengqiong Wu, Hao Fei, Leigang Qu, Wei Ji, and Tat-Seng Chua · 2023
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Ra-clip: Retrieval augmented contrastive language-image pre-training
Chen-Wei Xie, Siyang Sun, Xiong Xiong, Yun Zheng, Deli Zhao, and Jingren Zhou · 2023
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Retrieval-augmented multimodal language modeling
Michihiro Yasunaga, Armen Aghajanyan, Weijia Shi, Richard James, Jure Leskovec, Percy Liang, Mike Lewis, Luke Zettlemoyer, and Wen-tau Yih · 2023
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Rt-2: Vision-language-action models transfer web knowledge to robotic control
Brianna Zitkovich, Tianhe Yu, Sichun Xu, Peng Xu, Ted Xiao, Fei Xia, Jialin Wu, Paul Wohlhart, Stefan Welker, Ayzaan Wahid, et al · 2023
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