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Given the high cost of collecting robotic data in the real world, sample efficiency is a consistently compelling pursuit in robotics.
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The ycb object and model set: Towards common benchmarks for manipulation research
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Pointnet++: Deep hierarchical feature learning on point sets in a metric space
C. R. Qi, L. Yi, H. Su, and L. J. Guibas · 2017
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Pointnet: Deep learning on point sets for 3d classification and segmentation
C. R. Qi, H. Su, K. Mo, and L. J. Guibas · 2017
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Deepmdp: Learning continuous latent space models for representation learning
C. Gelada, S. Kumar, J. Buckman, O. Nachum, and M. G. Bellemare · 2019
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Dream to control: Learning behaviors by latent imagination
D. Hafner, T. Lillicrap, J. Ba, and M. Norouzi · 2019
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Rlbench: The robot learning benchmark & learning environment
S. James, Z. Ma, D. R. Arrojo, and A. J. Davison · 2020
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Image augmentation is all you need: Regularizing deep reinforcement learning from pixels
I. Kostrikov, D. Yarats, and R. Fergus · 2020
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Learning invariant representations for reinforcement learning without reconstruction
A. Zhang, R. McAllister, R. Calandra, Y. Gal, and S. Levine · 2020
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Graspnet-1billion: A large-scale benchmark for general object grasping
H.-S. Fang, C. Wang, M. Gou, and C. Lu · 2020
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Se (3)-transformers: 3d roto-translation equivariant attention networks
F. Fuchs, D. Worrall, V. Fischer, and M. Welling · 2020
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robosuite: A modular simulation framework and benchmark for robot learning
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Rrl: Resnet as representation for reinforcement learning
R. Shah and V. Kumar · 2021
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Contact-graspnet: Efficient 6-dof grasp generation in cluttered scenes
M. Sundermeyer, A. Mousavian, R. Triebel, and D. Fox · 2021
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Generalization in dexterous manipulation via geometry-aware multi-task learning
W. Huang, I. Mordatch, P. Abbeel, and D. Pathak · 2021
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Transporter networks: Rearranging the visual world for robotic manipulation
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Perceiver io: A general architecture for structured inputs & outputs
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What matters in learning from offline human demonstrations for robot manipulation
A. Mandlekar, D. Xu, J. Wong, S. Nasiriany, C. Wang, R. Kulkarni, L. Fei-Fei, S. Savarese, Y. Zhu, and R. Martín-Martín · 2021
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A convnet for the 2020s
Z. Liu, H. Mao, C.-Y. Wu, C. Feichtenhofer, T. Darrell, and S. Xie · 2022
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Vip: Towards universal visual reward and representation via value-implicit pre-training
Y. J. Ma, S. Sodhani, D. Jayaraman, O. Bastani, V. Kumar, and A. Zhang · 2022
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R3m: A universal visual representation for robot manipulation
A universal semantic-geometric representation for robotic manipulation
T. Zhang, Y. Hu, H. Cui, H. Zhao, and Y. Gao · 2023
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Maniskill2: A unified benchmark for generalizable manipulation skills
J. Gu, F. Xiang, X. Li, Z. Ling, X. Liu, T. Mu, Y. Tang, S. Tao, X. Wei, Y. Yao, et al · 2023
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Mimicgen: A data generation system for scalable robot learning using human demonstrations
A. Mandlekar, S. Nasiriany, B. Wen, I. Akinola, Y. Narang, L. Fan, Y. Zhu, and D. Fox · 2023
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Rvt: Robotic view transformer for 3d object manipulation
A. Goyal, J. Xu, Y. Guo, V. Blukis, Y.-W. Chao, and D. Fox · 2023
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Where are we in the search for an artificial visual cortex for embodied intelligence?
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S. Nair, A. Rajeswaran, V. Kumar, C. Finn, and A. Gupta · 2022
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Pointnext: Revisiting pointnet++ with improved training and scaling strategies
G. Qian, Y. Li, H. Peng, J. Mai, H. A. A. K. Hammoud, M. Elhoseiny, and B. Ghanem · 2022
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Perceiver-actor: A multi-task transformer for robotic manipulation
M. Shridhar, L. Manuelli, and D. Fox · 2022
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Real-world robot learning with masked visual pre-training
I. Radosavovic, T. Xiao, S. James, P. Abbeel, J. Malik, and T. Darrell · 2022
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Pre-trained image encoder for generalizable visual reinforcement learning
Z. Yuan, Z. Xue, B. Yuan, X. Wang, Y. Wu, Y. Gao, and H. Xu · 2022
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Masked visual pre-training for motor control
T. Xiao, I. Radosavovic, T. Darrell, and J. Malik · 2022
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The unsurprising effectiveness of pre-trained vision models for control
S. Parisi, A. Rajeswaran, S. Purushwalkam, and A. Gupta · 2022
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Coarse-to-fine q-attention: Efficient learning for visual robotic manipulation via discretisation
S. James, K. Wada, T. Laidlow, and A. J. Davison · 2022
Cited alongside, same era.
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For pre-trained vision models in motor control, not all policy learning methods are created equal
Y. Hu, R. Wang, L. E. Li, and Y. Gao · 2023
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Any-point trajectory modeling for policy learning
C. Wen, X. Lin, J. So, K. Chen, Q. Dou, Y. Gao, and P. Abbeel · 2023
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Gnfactor: Multi-task real robot learning with generalizable neural feature fields
Y. Ze, G. Yan, Y.-H. Wu, A. Macaluso, Y. Ge, J. Ye, N. Hansen, L. E. Li, and X. Wang · 2023
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Multi-view masked world models for visual robotic manipulation
Y. Seo, J. Kim, S. James, K. Lee, J. Shin, and P. Abbeel · 2023
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Act3d: 3d feature field transformers for multi-task robotic manipulation
T. Gervet, Z. Xian, N. Gkanatsios, and K. Fragkiadaki · 2023
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Useek: Unsupervised se (3)-equivariant 3d keypoints for generalizable manipulation
Z. Xue, Z. Yuan, J. Wang, X. Wang, Y. Gao, and H. Xu · 2023
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Equivact: Sim (3)-equivariant visuomotor policies beyond rigid object manipulation
J. Yang, C. Deng, J. Wu, R. Antonova, L. Guibas, and J. Bohg · 2023
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Local neural descriptor fields: Locally conditioned object representations for manipulation
E. Chun, Y. Du, A. Simeonov, T. Lozano-Perez, and L. Kaelbling · 2023
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Se (3)-equivariant relational rearrangement with neural descriptor fields
A. Simeonov, Y. Du, Y.-C. Lin, A. R. Garcia, L. P. Kaelbling, T. Lozano-Pérez, and P. Agrawal · 2023
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Waypoint-based imitation learning for robotic manipulation
L. X. Shi, A. Sharma, T. Z. Zhao, and C. Finn · 2023
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Td-mpc2: Scalable, robust world models for continuous control
N. Hansen, H. Su, and X. Wang · 2023
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Y. Ze, G. Zhang, K. Zhang, C. Hu, M. Wang, and H. Xu · 2024
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Sugar: Pre-training 3d visual representations for robotics
S. Chen, R. Garcia, I. Laptev, and C. Schmid · 2024
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3d diffuser actor: Policy diffusion with 3d scene representations
T.-W. Ke, N. Gkanatsios, and K. Fragkiadaki · 2024
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Riemann: Near real-time se (3)-equivariant robot manipulation without point cloud segmentation
C. Gao, Z. Xue, S. Deng, T. Liang, S. Yang, L. Shao, and H. Xu · 2024
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