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Embodied AI is transforming how AI systems interact with the physical world, yet existing datasets are inadequate for developing versatile, general-purpose agents.
Robot programming by demonstration with crowdsourced action fixes
Maxwell Forbes, Michael Chung, Maya Cakmak, and Rajesh Rao · 2014
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Hardware conditioned policies for multi-robot transfer learning
Tao Chen, Adithyavairavan Murali, and Abhinav Gupta · 2018
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Roboturk: A crowdsourcing platform for robotic skill learning through imitation
Ajay Mandlekar, Yuke Zhu, Animesh Garg, Jonathan Booher, Max Spero, Albert Tung, Julian Gao, John Emmons, Anchit Gupta, Emre Orbay, et al · 2018
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Multiple interactions made easy (mime): Large scale demonstrations data for imitation
Pratyusha Sharma, Lekha Mohan, Lerrel Pinto, and Abhinav Gupta · 2018
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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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Making sense of vision and touch: Self-supervised learning of multimodal representations for contact-rich tasks
Michelle A Lee, Yuke Zhu, Krishnan Srinivasan, Parth Shah, Silvio Savarese, Li Fei-Fei, Animesh Garg, and Jeannette Bohg · 2019
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Habitat: A platform for embodied ai research
Manolis Savva, Abhishek Kadian, Oleksandr Maksymets, Yili Zhao, Erik Wijmans, Bhavana Jain, Julian Straub, Jia Liu, Vladlen Koltun, Jitendra Malik, et al · 2019
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One policy to control them all: Shared modular policies for agent-agnostic control
Wenlong Huang, Igor Mordatch, and Deepak Pathak · 2020
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Language conditioned imitation learning over unstructured data
Corey Lynch and Pierre Sermanet · 2020
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Unigrasp: Learning a unified model to grasp with multifingered robotic hands
Lin Shao, Fabio Ferreira, Mikael Jorda, Varun Nambiar, Jianlan Luo, Eugen Solowjow, Juan Aparicio Ojea, Oussama Khatib, and Jeannette Bohg · 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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Bayesian meta-learning for few-shot policy adaptation across robotic platforms
Ali Ghadirzadeh, Xi Chen, Petra Poklukar, Chelsea Finn, Mårten Björkman, and Danica Kragic · 2021
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Know thyself: Transferable visual control policies through robot-awareness
Edward S Hu, Kun Huang, Oleh Rybkin, and Dinesh Jayaraman · 2021
Cited alongside, same era.
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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Mt-opt: Continuous multi-task robotic reinforcement learning at scale
Dmitry Kalashnikov, Jacob Varley, Yevgen Chebotar, Benjamin Swanson, Rico Jonschkowski, Chelsea Finn, Sergey Levine, and Karol Hausman · 2021
Cited alongside, same era.
Habitat-matterport 3d dataset (hm3d): 1000 large-scale 3d environments for embodied ai
Santhosh Kumar Ramakrishnan, Aaron Gokaslan, Erik Wijmans, Oleksandr Maksymets, Alexander Clegg, John M Turner, Eric Undersander, Wojciech Galuba, Andrew Westbury, Angel X Chang, et al · 2021
Cited alongside, same era.
Adagrasp: Learning an adaptive gripper-aware grasping policy
Habitat challenge 2022
Karmesh Yadav, Santhosh Kumar Ramakrishnan, John Turner, Aaron Gokaslan, Oleksandr Maksymets, Rishabh Jain, Ram Ramrakhya, Angel X Chang, Alexander Clegg, Manolis Savva, Eric Undersander, Devendra Singh Chaplot, and Dhruv Batra · 2022
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Rh20t: A robotic dataset for learning diverse skills in one-shot
Hao-Shu Fang, Hongjie Fang, Zhenyu Tang, Jirong Liu, Junbo Wang, Haoyi Zhu, and Cewu Lu · 2023
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Dexterity from touch: Self-supervised pre-training of tactile representations with robotic play
Irmak Guzey, Ben Evans, Soumith Chintala, and Lerrel Pinto · 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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Enhancing generalizable 6d pose tracking of an in-hand object with tactile sensing
Yun Liu, Xiaomeng Xu, Weihang Chen, Haocheng Yuan, He Wang, Jing Xu, Rui Chen, and Li Yi · 2023
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Zhenjia Xu, Beichun Qi, Shubham Agrawal, and Shuran Song · 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.
Visuo-tactile transformers for manipulation
Yizhou Chen, Mark Van der Merwe, Andrea Sipos, and Nima Fazeli · 2022
Cited alongside, same era.
Self-supervised visuo-tactile pretraining to locate and follow garment features
Justin Kerr, Huang Huang, Albert Wilcox, Ryan Hoque, Jeffrey Ichnowski, Roberto Calandra, and Ken Goldberg · 2022
Cited alongside, same era.
What matters in language conditioned robotic imitation learning over unstructured data
Oier Mees, Lukas Hermann, and Wolfram Burgard · 2022
Cited alongside, same era.
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
Cited alongside, same era.
Cliport: What and where pathways for robotic manipulation
Mohit Shridhar, Lucas Manuelli, and Dieter Fox · 2022
Cited alongside, same era.
Virdo++: Real-world, visuo-tactile dynamics and perception of deformable objects
Youngsun Wi, Andy Zeng, Pete Florence, and Nima Fazeli · 2022
Cited alongside, same era.
Interactive language: Talking to robots in real time
Corey Lynch, Ayzaan Wahid, Jonathan Tompson, Tianli Ding, James Betker, Robert Baruch, Travis Armstrong, and Pete Florence · 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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Perceiver-actor: A multi-task transformer for robotic manipulation
Mohit Shridhar, Lucas Manuelli, and Dieter Fox · 2023
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Learning modular language-conditioned robot policies through attention
Yifan Zhou, Shubham Sonawani, Mariano Phielipp, Heni Ben Amor, and Simon Stepputtis · 2023
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Universal manipulation interface: In-the-wild robot teaching without in-the-wild robots
Cheng Chi, Zhenjia Xu, Chuer Pan, Eric Cousineau, Benjamin Burchfiel, Siyuan Feng, Russ Tedrake, and Shuran Song · 2024
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Maniwav: Learning robot manipulation from in-the-wild audio-visual data
Zeyi Liu, Cheng Chi, Eric Cousineau, Naveen Kuppuswamy, Benjamin Burchfiel, and Shuran Song · 2024
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Surfer: Progressive reasoning with world models for robotic manipulation, 2024
Pengzhen Ren, Kaidong Zhang, Hetao Zheng, Zixuan Li, Yuhang Wen, Fengda Zhu, Mas Ma, and Xiaodan Liang · 2024
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