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Simulation has enabled unprecedented compute-scalable approaches to robot learning.
Mujoco: A physics engine for model-based control
Emanuel Todorov, Tom Erez, and Yuval Tassa · 2012
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Benchmarking in manipulation research: The YCB object and model set and benchmarking protocols
Berk Çalli, Aaron Walsman, Arjun Singh, Siddhartha S. Srinivasa, Pieter Abbeel, and Aaron M. Dollar · 2015
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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, Daniel Gordon, Yuke Zhu, Abhinav Gupta, and Ali Farhadi · 2017
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Proximal policy optimization algorithms
John Schulman, Filip Wolski, Prafulla Dhariwal, Alec Radford, and Oleg Klimov · 2017
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Soft actor-critic: Off-policy maximum entropy deep reinforcement learning with a stochastic actor
Tuomas Haarnoja, Aurick Zhou, Pieter Abbeel, and Sergey Levine · 2018
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The pinocchio c++ library – a fast and flexible implementation of rigid body dynamics algorithms and their analytical derivatives
Justin Carpentier, Guilhem Saurel, Gabriele Buondonno, Joseph Mirabel, Florent Lamiraux, Olivier Stasse, and Nicolas Mansard · 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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Rlbench: The robot learning benchmark & learning environment
Stephen James, Zicong Ma, David Rovick Arrojo, and Andrew J. Davison · 2020
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dm_control: Software and tasks for continuous control
Saran Tunyasuvunakool, Alistair Muldal, Yotam Doron, Siqi Liu, Steven Bohez, Josh Merel, Tom Erez, Timothy P. Lillicrap, Nicolas Heess, and Yuval Tassa · 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, Li Yi, Angel X. Chang, Leonidas J. Guibas, and Hao Su · 2020
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Pinocchio: fast forward and inverse dynamics for poly-articulated systems
Justin Carpentier, Florian Valenza, Nicolas Mansard, et al · 2021
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Brax - a differentiable physics engine for large scale rigid body simulation, 2021
C. Daniel Freeman, Erik Frey, Anton Raichuk, Sertan Girgin, Igor Mordatch, and Olivier Bachem · 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, and Gavriel State · 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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Maniskill: Generalizable manipulation skill benchmark with large-scale demonstrations
Tongzhou Mu, Zhan Ling, Fanbo Xiang, Derek Cathera Yang, Xuanlin Li, Stone Tao, Zhiao Huang, Zhiwei Jia, and Hao Su · 2021
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Stable-baselines3: Reliable reinforcement learning implementations
Antonin Raffin, Ashley Hill, Adam Gleave, Anssi Kanervisto, Maximilian Ernestus, and Noah Dormann · 2021
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Learning to walk in minutes using massively parallel deep reinforcement learning
Nikita Rudin, David Hoeller, Philipp Reist, and Marco Hutter · 2021
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Habitat 2.0: Training home assistants to rearrange their habitat
Andrew Szot, Alex Clegg, Eric Undersander, Erik Wijmans, Yili Zhao, John Turner, Noah Maestre, Mustafa Mukadam, Devendra Chaplot, Oleksandr Maksymets, Aaron Gokaslan, Vladimir Vondrus, Sameer Dharur, Franziska Meier, Wojciech Galuba, Angel Chang, Zsolt Kira, Vladlen Koltun, Jitendra Malik, Manolis Savva, and Dhruv Batra · 2021
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Pettingzoo: Gym for multi-agent reinforcement learning
J Terry, Benjamin Black, Nathaniel Grammel, Mario Jayakumar, Ananth Hari, Ryan Sullivan, Luis S Santos, Clemens Dieffendahl, Caroline Horsch, Rodrigo Perez-Vicente, 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, Alexander Herzog, Jasmine Hsu, Julian Ibarz, Brian Ichter, Alex Irpan, Tomas Jackson, Sally Jesmonth, Nikhil J. Joshi, Ryan Julian, Dmitry Kalashnikov, Yuheng Kuang, Isabel Leal, Kuang-Huei Lee, Sergey Levine, Yao Lu, Utsav Malla, Deeksha Manjunath, Igor Mordatch, Ofir Nachum, Carolina Parada, Jodilyn Peralta, Emily Perez, Karl Pertsch, Jornell Quiambao, Kanishka Rao, Michael S. Ryoo, Grecia Salazar, Pannag Sanketi, Kevin Sayed, Jaspiar Singh, Sumedh Sontakke, Austin Stone, Clayton Tan, Huong T. Tran, Vincent Vanhoucke, Steve Vega, Quan Vuong, Fei Xia, Ted Xiao, Peng Xu, Sichun Xu, Tianhe Yu, and Brianna Zitkovich · 2022
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Towards human-level bimanual dexterous manipulation with reinforcement learning
Orbit: A unified simulation framework for interactive robot learning environments
Mayank Mittal, Calvin Yu, Qinxi Yu, Jingzhou Liu, Nikita Rudin, David Hoeller, Jia Lin Yuan, Ritvik Singh, Yunrong Guo, Hammad Mazhar, Ajay Mandlekar, Buck Babich, Gavriel State, Marco Hutter, and Animesh Garg · 2023
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Anyteleop: A general vision-based dexterous robot arm-hand teleoperation system
Yuzhe Qin, Wei Yang, Binghao Huang, Karl Van Wyk, Hao Su, Xiaolong Wang, Yu-Wei Chao, and Dieter Fox · 2023
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PyTorch 2: Faster Machine Learning Through Dynamic Python Bytecode Transformation and Graph Compilation
Jason Ansel, Edward Yang, Horace He, Natalia Gimelshein, Animesh Jain, Michael Voznesensky, Bin Bao, Peter Bell, David Berard, Evgeni Burovski, Geeta Chauhan, Anjali Chourdia, Will Constable, Alban Desmaison, Zachary DeVito, Elias Ellison, Will Feng, Jiong Gong, Michael Gschwind, Brian Hirsh, Sherlock Huang, Kshiteej Kalambarkar, Laurent Kirsch, Michael Lazos, Mario Lezcano, Yanbo Liang, Jason Liang, Yinghai Lu, CK Luk, Bert Maher, Yunjie Pan, Christian Puhrsch, Matthias Reso, Mark Saroufim, Marcos Yukio Siraichi, Helen Suk, Michael Suo, Phil Tillet, Eikan Wang, Xiaodong Wang, William Wen, Shunting Zhang, Xu Zhao, Keren Zhou, Richard Zou, Ajit Mathews, Gregory Chanan, Peng Wu, and Soumith Chintala · 2024
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Lerobot: State-of-the-art machine learning for real-world robotics in pytorch
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Yuanpei Chen, Yaodong Yang, Tianhao Wu, Shengjie Wang, Xidong Feng, Jiechuan Jiang, Zongqing Lu, Stephen Marcus McAleer, Hao Dong, and Song-Chun Zhu · 2022
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Cleanrl: High-quality single-file implementations of deep reinforcement learning algorithms
Shengyi Huang, Rousslan Fernand Julien Dossa, Chang Ye, Jeff Braga, Dipam Chakraborty, Kinal Mehta, and João G.M. Araújo · 2022
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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, Mona Anvari, Minjune Hwang, Manasi Sharma, Arman Aydin, Dhruva Bansal, Samuel Hunter, Kyu-Young Kim, Alan Lou, Caleb R Matthews, Ivan Villa-Renteria, Jerry Huayang Tang, Claire Tang, Fei Xia, Silvio Savarese, Hyowon Gweon, Karen Liu, Jiajun Wu, and Li Fei-Fei · 2022
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Perceiver-actor: A multi-task transformer for robotic manipulation
Mohit Shridhar, Lucas Manuelli, and Dieter Fox · 2022
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Approximate convex decomposition for 3d meshes with collision-aware concavity and tree search
Xinyue Wei, Minghua Liu, Zhan Ling, and Hao Su · 2022
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Efficient online reinforcement learning with offline data
Philip J. Ball, Laura M. Smith, Ilya Kostrikov, and Sergey Levine · 2023
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Easyhec: Accurate and automatic hand-eye calibration via differentiable rendering and space exploration
Linghao Chen, Yuzhe Qin, Xiaowei Zhou, and Hao Su · 2023
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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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Finetuning offline world models in the real world
Yunhai Feng, Nicklas Hansen, Ziyan Xiong, Chandramouli Rajagopalan, and Xiaolong Wang · 2023
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Remi Cadene, Simon Alibert, Alexander Soare, Quentin Gallouedec, Adil Zouitine, and Thomas Wolf · 2024
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General-purpose sim2real protocol for learning contact-rich manipulation with marker-based visuotactile sensors
Weihang Chen, Jing Xu, Fanbo Xiang, Xiaodi Yuan, Hao Su, and Rui Chen · 2024
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Bunny-visionpro: Real-time bimanual dexterous teleoperation for imitation learning
Runyu Ding, Yuzhe Qin, Jiyue Zhu, Chengzhe Jia, Shiqi Yang, Ruihan Yang, Xiaojuan Qi, and Xiaolong Wang · 2024
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Humanplus: Humanoid shadowing and imitation from humans
Zipeng Fu, Qingqing Zhao, Qi Wu, Gordon Wetzstein, and Chelsea Finn · 2024
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Td-mpc2: Scalable, robust world models for continuous control
Nicklas Hansen, Hao Su, and Xiaolong Wang · 2024
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Transic: Sim-to-real policy transfer by learning from online correction
Yunfan Jiang, Chen Wang, Ruohan Zhang, Jiajun Wu, and Li Fei-Fei · 2024
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Evaluating real-world robot manipulation policies in simulation
Xuanlin Li, Kyle Hsu, Jiayuan Gu, Karl Pertsch, Oier Mees, Homer Rich Walke, Chuyuan Fu, Ishikaa Lunawat, Isabel Sieh, Sean Kirmani, Sergey Levine, Jiajun Wu, Chelsea Finn, Hao Su, Quan Vuong, and Ted Xiao · 2024
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Rdt-1b: a diffusion foundation model for bimanual manipulation
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Robocasa: Large-scale simulation of everyday tasks for generalist robots
Soroush Nasiriany, Abhiram Maddukuri, Lance Zhang, Adeet Parikh, Aaron Lo, Abhishek Joshi, Ajay Mandlekar, and Yuke Zhu · 2024
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Octo: An open-source generalist robot policy
Octo Model Team, Dibya Ghosh, Homer Walke, Karl Pertsch, Kevin Black, Oier Mees, Sudeep Dasari, Joey Hejna, Charles Xu, Jianlan Luo, Tobias Kreiman, You Liang Tan, Lawrence Yunliang Chen, Pannag Sanketi, Quan Vuong, Ted Xiao, Dorsa Sadigh, Chelsea Finn, and Sergey Levine · 2024
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Reverse forward curriculum learning for extreme sample and demo efficiency
Stone Tao, Arth Shukla, Tse-kai Chan, and Hao Su · 2024
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3d diffusion policy: Generalizable visuomotor policy learning via simple 3d representations
Yanjie Ze, Gu Zhang, Kangning Zhang, Chenyuan Hu, Muhan Wang, and Huazhe Xu · 2024
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ALOHA unleashed: A simple recipe for robot dexterity
Tony Z. Zhao, Jonathan Tompson, Danny Driess, Pete Florence, Seyed Kamyar Seyed Ghasemipour, Chelsea Finn, and Ayzaan Wahid · 2024
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PyTorch Kinematics, February 2024
Sheng Zhong, Thomas Power, Ashwin Gupta, and Peter Mitrano · 2024
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