Fetching the paper…
Reading the bibliography…
We introduce UMI-on-Legs, a new framework that combines real-world and simulation data for quadruped manipulation systems.
Apriltag: A robust and flexible visual fiducial system
E. Olson · 2011
Earlier work this paper cites.
Mujoco: A physics engine for model-based control
E. Todorov, T. Erez, and Y. Tassa · 2012
Earlier work this paper cites.
U-net: Convolutional networks for biomedical image segmentation
O. Ronneberger, P. Fischer, and T. Brox · 2015
Earlier work this paper cites.
Proximal policy optimization algorithms
J. Schulman, F. Wolski, P. Dhariwal, A. Radford, and O. Klimov · 2017
Earlier work this paper cites.
Hybrid contact preintegration for visual-inertial-contact state estimation using factor graphs
R. Hartley, M. G. Jadidi, L. Gan, J.-K. Huang, J. W. Grizzle, and R. M. Eustice · 2018
Earlier work this paper cites.
On the continuity of rotation representations in neural networks
Y. Zhou, C. Barnes, J. Lu, J. Yang, and H. Li · 2019
Earlier work this paper cites.
Language models are few-shot learners
T. Brown, B. Mann, N. Ryder, M. Subbiah, J. D. Kaplan, P. Dhariwal, A. Neelakantan, P. Shyam, G. Sastry, A. Askell, et al · 2020
Earlier work this paper cites.
Denoising diffusion implicit models
J. Song, C. Meng, and S. Ermon · 2020
Earlier work this paper cites.
Tossingbot: Learning to throw arbitrary objects with residual physics
A. Zeng, S. Song, J. Lee, A. Rodriguez, and T. Funkhouser · 2020
Earlier work this paper cites.
Isaac gym: High performance gpu-based physics simulation for robot learning
V. Makoviychuk, L. Wawrzyniak, Y. Guo, M. Lu, K. Storey, M. Macklin, D. Hoeller, N. Rudin, A. Allshire, A. Handa, et al · 2021
Earlier work this paper cites.
Brax–a differentiable physics engine for large scale rigid body simulation
C. D. Freeman, E. Frey, A. Raichuk, S. Girgin, I. Mordatch, and O. Bachem · 2021
Earlier work this paper cites.
Rma: Rapid motor adaptation for legged robots
A. Kumar, Z. Fu, D. Pathak, and J. Malik · 2021
Earlier work this paper cites.
Open-vocabulary object detection via vision and language knowledge distillation
X. Gu, T.-Y. Lin, W. Kuo, and Y. Cui · 2021
Earlier work this paper cites.
Learning transferable visual models from natural language supervision
A. Radford, J. W. Kim, C. Hallacy, A. Ramesh, G. Goh, S. Agarwal, G. Sastry, A. Askell, P. Mishkin, J. Clark, et al · 2021
Earlier work this paper cites.
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
Earlier work this paper cites.
Bridge data: Boosting generalization of robotic skills with cross-domain datasets
F. Ebert, Y. Yang, K. Schmeckpeper, B. Bucher, G. Georgakis, K. Daniilidis, C. Finn, and S. Levine · 2021
Earlier work this paper cites.
Learning to walk in minutes using massively parallel deep reinforcement learning
N. Rudin, D. Hoeller, P. Reist, and M. Hutter · 2022
Earlier work this paper cites.
Fast-lio2: Fast direct lidar-inertial odometry
W. Xu, Y. Cai, D. He, J. Lin, and F. Zhang · 2022
Earlier work this paper cites.
Vilens: Visual, inertial, lidar, and leg odometry for all-terrain legged robots
D. Wisth, M. Camurri, and M. Fallon · 2022
Earlier work this paper cites.
Fully autonomous real-world reinforcement learning with applications to mobile manipulation
C. Sun, J. Orbik, C. M. Devin, B. H. Yang, A. Gupta, G. Berseth, and S. Levine · 2022
Cited alongside, same era.
Do as i can, not as i say: Grounding language in robotic affordances
M. Ahn, A. Brohan, N. Brown, Y. Chebotar, O. Cortes, B. David, C. Finn, C. Fu, K. Gopalakrishnan, K. Hausman, et al · 2022
Cited alongside, same era.
Language models as zero-shot planners: Extracting actionable knowledge for embodied agents
W. Huang, P. Abbeel, D. Pathak, and I. Mordatch · 2022
Cited alongside, same era.
Behavior transformers: Cloning k k modes with one stone
N. M. Shafiullah, Z. Cui, A. A. Altanzaya, and L. Pinto · 2022
Cited alongside, same era.
Rt-1: Robotics transformer for real-world control at scale
A. Brohan, N. Brown, J. Carbajal, Y. Chebotar, J. Dabis, C. Finn, K. Gopalakrishnan, K. Hausman, A. Herzog, J. Hsu, et al · 2022
Scaling up and distilling down: Language-guided robot skill acquisition
H. Ha, P. Florence, and S. Song · 2023
Later among the works it cites.
Learning whole-body manipulation for quadrupedal robot
S. Jeon, M. Jung, S. Choi, B. Kim, and J. Hwangbo · 2023
Later among the works it cites.
Legs as manipulator: Pushing quadrupedal agility beyond locomotion
X. Cheng, A. Kumar, and D. Pathak · 2023
Later among the works it cites.
Universal manipulation interface: In-the-wild robot teaching without in-the-wild robots
C. Chi, Z. Xu, C. Pan, E. Cousineau, B. Burchfiel, S. Feng, R. Tedrake, and S. Song · 2024
Closest in time.
Learning force control for legged manipulation
T. Portela, G. B. Margolis, Y. Ji, and P. Agrawal · 2024
Closest in time.
Roboduet: A framework affording mobile-manipulation and cross-embodiment
alphaXiv searches the wider corpus for related work and actual follow-ups.
alphaXiv is searching for related work…
Cited alongside, same era.
Diffusion policy: Visuomotor policy learning via action diffusion
C. Chi, S. Feng, Y. Du, Z. Xu, E. Cousineau, B. Burchfiel, and S. Song · 2023
Cited alongside, same era.
Barkour: Benchmarking animal-level agility with quadruped robots
K. Caluwaerts, A. Iscen, J. C. Kew, W. Yu, T. Zhang, D. Freeman, K.-H. Lee, L. Lee, S. Saliceti, V. Zhuang, et al · 2023
Cited alongside, same era.
Deep whole-body control: Learning a unified policy for manipulation and locomotion
Z. Fu, X. Cheng, and D. Pathak · 2023
Cited alongside, same era.
Asc: Adaptive skill coordination for robotic mobile manipulation
N. Yokoyama, A. Clegg, J. Truong, E. Undersander, T.-Y. Yang, S. Arnaud, S. Ha, D. Batra, and A. Rai · 2023
Cited alongside, same era.
Tidybot: Personalized robot assistance with large language models
J. Wu, R. Antonova, A. Kan, M. Lepert, A. Zeng, S. Song, J. Bohg, S. Rusinkiewicz, and T. Funkhouser · 2023
Cited alongside, same era.
Robotic table wiping via reinforcement learning and whole-body trajectory optimization
T. Lew, S. Singh, M. Prats, J. Bingham, J. Weisz, B. Holson, X. Zhang, V. Sindhwani, Y. Lu, F. Xia, et al · 2023
Cited alongside, same era.
Segment anything
A. Kirillov, E. Mintun, N. Ravi, H. Mao, C. Rolland, L. Gustafson, T. Xiao, S. Whitehead, A. C. Berg, W.-Y. Lo, et al · 2023
Cited alongside, same era.
G. Pan, Q. Ben, Z. Yuan, G. Jiang, Y. Ji, J. Pang, H. Liu, and H. Xu · 2024
Closest in time.
Visual whole-body control for legged loco-manipulation
M. Liu, Z. Chen, X. Cheng, Y. Ji, R. Yang, and X. Wang · 2024
Closest in time.
Adaptive mobile manipulation for articulated objects in the open world
H. Xiong, R. Mendonca, K. Shaw, and D. Pathak · 2024
Closest in time.
Mobile aloha: Learning bimanual mobile manipulation with low-cost whole-body teleoperation
Z. Fu, T. Z. Zhao, and C. Finn · 2024
Closest in time.
Rapid locomotion via reinforcement learning
G. B. Margolis, G. Yang, K. Paigwar, T. Chen, and P. Agrawal · 2024
Closest in time.
Pedipulate: Enabling manipulation skills using a quadruped robot’s leg
P. Arm, M. Mittal, H. Kolvenbach, and M. Hutter · 2024
Closest in time.
Locoman: Advancing versatile quadrupedal dexterity with lightweight loco-manipulators
C. Lin, X. Liu, Y. Yang, Y. Niu, W. Yu, T. Zhang, J. Tan, B. Boots, and D. Zhao · 2024
Closest in time.
Learning visual quadrupedal loco-manipulation from demonstrations
Z. He, K. Lei, Y. Ze, K. Sreenath, Z. Li, and H. Xu · 2024
Closest in time.
Octo: An open-source generalist robot policy
O. M. Team, D. Ghosh, H. Walke, K. Pertsch, K. Black, O. Mees, S. Dasari, J. Hejna, T. Kreiman, C. Xu, et al · 2024
Closest in time.
Data quality in imitation learning
S. Belkhale, Y. Cui, and D. Sadigh · 2024
Closest in time.
Droid: A large-scale in-the-wild robot manipulation dataset
A. Khazatsky, K. Pertsch, S. Nair, A. Balakrishna, S. Dasari, S. Karamcheti, S. Nasiriany, M. K. Srirama, L. Y. Chen, K. Ellis, et al · 2024
Closest in time.
Pushing the limits of cross-embodiment learning for manipulation and navigation
J. Yang, C. Glossop, A. Bhorkar, D. Shah, Q. Vuong, C. Finn, D. Sadigh, and S. Levine · 2024
Closest in time.
Learning to walk in confined spaces using 3d representation
T. Miki, J. Lee, L. Wellhausen, and M. Hutter · 2024
Closest in time.