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Foundation models hold significant potential for enabling robots to perform long-horizon general manipulation tasks.
Design and Use Paradigms for Gazebo, An Open-Source Multi-Robot Simulator
Nathan Koenig and Andrew Howard · 2004
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Mujoco: A Physics Engine for Model-Based Control
Emanuel Todorov, Tom Erez, and Yuval Tassa · 2012
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AI2-THOR: An Interactive 3D Environment for Visual AI
Eric Kolve, Roozbeh Mottaghi, Winson Han, Eli VanderBilt, Luca Weihs, Alvaro Herrasti, Matt Deitke, Kiana Ehsani, Daniel Gordon, Yuke Zhu, et al · 2017
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RoboNet: Large-Scale Multi-Robot Learning
Sudeep Dasari, Frederik Ebert, Stephen Tian, Suraj Nair, Bernadette Bucher, Karl Schmeckpeper, Siddharth Singh, Sergey Levine, and Chelsea Finn · 2019
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PartNet: A Large-Scale Benchmark for Fine-Grained and Hierarchical Part-Level 3D Object Understanding
Kaichun Mo, Shilin Zhu, Angel X Chang, Li Yi, Subarna Tripathi, Leonidas J Guibas, and Hao Su · 2019
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EfficientNet: Rethinking Model Scaling for Convolutional Neural Networks
Mingxing Tan and Quoc Le · 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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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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RLBench: The Robot Learning Benchmark & Learning Environment
Stephen James, Zicong Ma, David Rovick Arrojo, and Andrew J. Davison1 · 2020
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Crossing the Reality Gap: A Survey on Sim-to-Real Transferability of Robot Controllers in Reinforcement Learning
Erica Salvato, Gianfranco Fenu, Eric Medvet, and Felice Andrea Pellegrino · 2021
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What Matters in Learning from Offline Human Demonstrations for Robot Manipulation
Ajay Mandlekar, Danfei Xu, Josiah Wong, Soroush Nasiriany, Chen Wang, Rohun Kulkarni, Li Fei-Fei, Silvio Savarese, Yuke Zhu, and Roberto Martín-Martín · 2021
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Robotic Assembly of Timber Joints Using Reinforcement Learning
Aleksandra Anna Apolinarska, Matteo Pacher, Hui Li, Nicholas Cote, Rafael Pastrana, Fabio Gramazio, and Matthias Kohler · 2021
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BC-Z: Zero-Shot Task Generalization with Robotic Imitation Learning
Eric Jang, Alex Irpan, Mohi Khansari, Daniel Kappler, Frederik Ebert, Corey Lynch, Sergey Levine, and Chelsea Finn · 2021
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Isaac Gym: High Performance GPU-Based Physics Simulation for Robot Learning
Viktor Makoviychuk, Lukasz Wawrzyniak, Yunrong Guo, Michelle Lu, Kier Storey, Miles Macklin, David Hoeller, Nikita Rudin, Arthur Allshire, Ankur Handa, et al · 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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ManiSkill: Generalizable Manipulation Skill Benchmark with Large-Scale Demonstrations
Tongzhou Mu, Zhan Ling, Fanbo Xiang, Derek Yang, Xuanlin Li, Stone Tao, Zhiao Huang, Zhiwei Jia, and Hao Su · 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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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
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VLMbench: A Compositional Benchmark For Vision-and-Language Manipulation
Kaizhi Zheng, Xiaotong Chen, Odest Chadwicke Jenkins, and Xin Wang · 2022
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CALVIN: A Benchmark for Language-Conditioned Policy Learning for Long-Horizon Robot Manipulation Tasks
Oier Mees, Lukas Hermann, Erick Rosete-Beas, and Wolfram Burgard · 2022
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BEHAVIOR: Benchmark for Everyday Household Activities in Virtual, Interactive, and Ecological Environments
Sanjana Srivastava, Chengshu Li, Michael Lingelbach, Roberto Martín-Martín, Fei Xia, Kent Elliott Vainio, Zheng Lian, Cem Gokmen, Shyamal Buch, Karen Liu, et al · 2022
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Do as I Can, Not as I Say: Grounding Language in Robotic Affordances
Anthony Brohan, Yevgen Chebotar, Chelsea Finn, Karol Hausman, Alexander Herzog, Daniel Ho, Julian Ibarz, Alex Irpan, Eric Jang, Ryan Julian, 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
RH20T: A Comprehensive Robotic Dataset for Learning Diverse Skills in One-Shot
Hao-Shu Fang, Hongjie Fang, Zhenyu Tang, Jirong Liu, Chenxi Wang, Junbo Wang, Haoyi Zhu, and Cewu Lu · 2023
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Homanga Bharadhwaj, Jay Vakil, Mohit Sharma, Abhinav Gupta, Shubham Tulsiani, and Vikash Kumar · 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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Scaling Up and Distilling Down: Language-Guided Robot Skill Acquisition
Huy Ha, Pete Florence, and Shuran Song · 2023
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RoboGen: Towards Unleashing Infinite Data for Automated Robot Learning via Generative Simulation
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Act3D: 3D Feature Field Transformers for Multi-Task Robotic Manipulation
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Diffusion Policy: Visuomotor Policy Learning via Action Diffusion
Cheng Chi, Siyuan Feng, Yilun Du, Zhenjia Xu, Eric Cousineau, Benjamin Burchfiel, and Shuran Song · 2023
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A Review on Reinforcement Learning for Contact-Rich Robotic Manipulation Tasks
Íñigo Elguea-Aguinaco, Antonio Serrano-Muñoz, Dimitrios Chrysostomou, Ibai Inziarte-Hidalgo, Simon Bøgh, and Nestor Arana-Arexolaleiba · 2023
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Learning Fine-Grained Bimanual Manipulation with Low-Cost Hardware
Tony Z. Zhao, Vikash Kumar, Sergey Levine, and Chelsea Finn · 2023
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MimicPlay: Long-Horizon Imitation Learning by Watching Human Play
Chen Wang, Linxi Fan, Jiankai Sun, Ruohan Zhang, Li Fei-Fei, Danfei Xu, Yuke Zhu, and Anima Anandkumar · 2023
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Diffusion-Based Generation, Optimization, and Planning in 3D Scenes
Siyuan Huang, Zan Wang, Puhao Li, Baoxiong Jia, Tengyu Liu, Yixin Zhu, Wei Liang, and Song-Chun Zhu · 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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Yufei Wang, Zhou Xian, Feng Chen, Tsun-Hsuan Wang, Yian Wang, Katerina Fragkiadaki, Zackory Erickson, David Held, and Chuang Gan · 2023
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BEHAVIOR-1K: A Benchmark for Embodied AI with 1,000 Everyday Activities and Realistic Simulation
Chengshu Li, Ruohan Zhang, Josiah Wong, Cem Gokmen, Sanjana Srivastava, Roberto Martín-Martín, Chen Wang, Gabrael Levine, Michael Lingelbach, Jiankai Sun, et al · 2023
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3D Diffuser Actor: Policy Diffusion with 3D Scene Representations
Tsung-Wei Ke, Nikolaos Gkanatsios, and Katerina Fragkiadaki · 2024
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Mobile ALOHA: Learning Bimanual Mobile Manipulation with Low-Cost Whole-Body Teleoperation
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FMB: A Functional Manipulation Benchmark for Generalizable Robotic Learning
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Vision-Language Foundation Models as Effective Robot Imitators
Xinghang Li, Minghuan Liu, Hanbo Zhang, Cunjun Yu, Jie Xu, Hongtao Wu, Chilam Cheang, Ya Jing, Weinan Zhang, Huaping Liu, et al · 2024
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DNAct: Diffusion Guided Multi-Task 3D Policy Learning
Ge Yan, Yueh-Hua Wu, and Xiaolong Wang · 2024
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Zifan Wang, Junyu Chen, Ziqing Chen, Pengwei Xie, Rui Chen, and Li Yi · 2024
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RoboUniView: Visual-Language Model with Unified View Representation for Robotic Manipulaiton
Fanfan Liu, Feng Yan, Liming Zheng, Chengjian Feng, Yiyang Huang, and Lin Ma · 2024
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Bin Zhu, Bin Lin, Munan Ning, Yang Yan, Jiaxi Cui, HongFa Wang, Yatian Pang, Wenhao Jiang, Junwu Zhang, Zongwei Li, et al · 2024
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RoboCodeX: Multimodal Code Generation for Robotic Behavior Synthesis
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LIBERO: Benchmarking Knowledge Transfer for Lifelong Robot Learning
Bo Liu, Yifeng Zhu, Chongkai Gao, Yihao Feng, Qiang Liu, Yuke Zhu, and Peter Stone · 2024
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Adaptive Mobile Manipulation for Articulated Objects In the Open World
Haoyu Xiong, Russell Mendonca, Kenneth Shaw, and Deepak Pathak · 2024
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