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Training robot policies in the real world can be unsafe, costly, and difficult to scale.
A density-based algorithm for discovering clusters in large spatial databases with noise
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High precision grasp pose detection in dense clutter, 2016
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Using simulation and domain adaptation to improve efficiency of deep robotic grasping
K. Bousmalis, A. Irpan, P. Wohlhart, Y. Bai, M. Kelcey, M. Kalakrishnan, L. Downs, J. Ibarz, P. Pastor, K. Konolige, S. Levine, and V. Vanhoucke · 2017
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AI2-THOR: An Interactive 3D Environment for Visual AI
E. Kolve, R. Mottaghi, W. Han, E. VanderBilt, L. Weihs, A. Herrasti, D. Gordon, Y. Zhu, A. Gupta, and A. Farhadi · 2017
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Matterport3d: Learning from rgb-d data in indoor environments
A. Chang, A. Dai, T. Funkhouser, M. Halber, M. Nießner, M. Savva, S. Song, A. Zeng, and Y. Zhang · 2017
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Ai2-thor: An interactive 3d environment for visual ai
E. Kolve, R. Mottaghi, W. Han, E. VanderBilt, L. Weihs, A. Herrasti, M. Deitke, K. Ehsani, D. Gordon, Y. Zhu, A. Kembhavi, A. Gupta, and A. Farhadi · 2017
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Sim-to-real transfer of robotic control with dynamics randomization
X. B. Peng, M. Andrychowicz, W. Zaremba, and P. Abbeel · 2017
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Grounded action transformation for robot learning in simulation
J. P. Hanna and P. Stone · 2017
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Gibson env: Real-world perception for embodied agents
F. Xia, A. Zamir, Z.-Y. He, A. Sax, J. Malik, and S. Savarese · 2018
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Closing the sim-to-real loop: Adapting simulation randomization with real world experience
Y. Chebotar, A. Handa, V. Makoviychuk, M. Macklin, J. Issac, N. Ratliff, and D. Fox · 2018
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Sim-to-real: Learning agile locomotion for quadruped robots
J. Tan, T. Zhang, E. Coumans, A. Iscen, Y. Bai, D. Hafner, S. Bohez, and V. Vanhoucke · 2018
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Point cloud registration based on improved icp algorithm
W. Guan, W. Li, and Y. Ren · 2018
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Interactive gibson benchmark (igibson 0.5): A benchmark for interactive navigation in cluttered environments
F. Xia, W. B. Shen, C. Li, P. Kasimbeg, M. Tchapmi, A. Toshev, L. Fei-Fei, R. Martín-Martín, and S. Savarese · 2019
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Habitat: A platform for embodied ai research
M. Savva, A. Kadian, O. Maksymets, Y. Zhao, E. Wijmans, B. Jain, J. Straub, J. Liu, V. Koltun, J. Malik, D. Parikh, and D. Batra · 2019
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Solving rubik’s cube with a robot hand
OpenAI, I. Akkaya, M. Andrychowicz, M. Chociej, M. Litwin, B. McGrew, A. Petron, A. Paino, M. Plappert, G. Powell, R. Ribas, J. Schneider, N. Tezak, J. Tworek, P. Welinder, L. Weng, Q. Yuan, W. Zaremba, and L. Zhang · 2019
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Closing the sim-to-real loop: Adapting simulation randomization with real world experience
Y. Chebotar, A. Handa, V. Makoviychuk, M. Macklin, J. Issac, N. D. Ratliff, and D. Fox · 2019
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Billion-scale similarity search with GPUs
J. Johnson, M. Douze, and H. Jégou · 2019
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I. Loshchilov and F. Hutter · 2019
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Retinagan: An object-aware approach to sim-to-real transfer
D. Ho, K. Rao, Z. Xu, E. Jang, M. Khansari, and Y. Bai · 2020
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Nerf: Representing scenes as neural radiance fields for view synthesis
B. Mildenhall, P. P. Srinivasan, M. Tancik, J. T. Barron, R. Ramamoorthi, and R. Ng · 2020
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Transporter networks: Rearranging the visual world for robotic manipulation
A. Zeng, P. Florence, J. Tompson, S. Welker, J. Chien, M. Attarian, T. Armstrong, I. Krasin, D. Duong, A. Wahid, V. Sindhwani, and J. Lee · 2020
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Integrated task and motion planning
C. R. Garrett, R. Chitnis, R. Holladay, B. Kim, T. Silver, L. P. Kaelbling, and T. Lozano-Pérez · 2020
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Sim-to-real transfer of bolting tasks with tight tolerance
D. Son, H. Yang, and D. Lee · 2020
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Sim2real2sim: Bridging the gap between simulation and real-world in flexible object manipulation
P. Chang and T. Padir · 2020
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Augmenting differentiable simulators with neural networks to close the sim2real gap
E. Heiden, D. Millard, E. Coumans, and G. S. Sukhatme · 2020
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Evaluation of the icp algorithm in 3d point cloud registration
P. Li, R. Wang, Y. Wang, and W. Tao · 2020
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Rma: Rapid motor adaptation for legged robots, 2021
A. Kumar, Z. Fu, D. Pathak, and J. Malik · 2021
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Learning transferable visual models from natural language supervision, 2021
A. Radford, J. W. Kim, C. Hallacy, A. Ramesh, G. Goh, S. Agarwal, G. Sastry, A. Askell, P. Mishkin, J. Clark, G. Krueger, and I. Sutskever · 2021
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Habitat 2.0: Training home assistants to rearrange their habitat
A. Szot, A. Clegg, E. Undersander, E. Wijmans, Y. Zhao, J. Turner, N. Maestre, M. Mukadam, D. S. Chaplot, O. Maksymets, A. Gokaslan, V. Vondruš, S. Dharur, F. Meier, W. Galuba, A. Chang, Z. Kira, V. Koltun, J. Malik, M. Savva, and D. Batra · 2021
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Cliport: What and where pathways for robotic manipulation
M. Shridhar, L. Manuelli, and D. Fox · 2021
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Planar robot casting with real2sim2real self-supervised learning
V. Lim, H. Huang, L. Y. Chen, J. Wang, J. Ichnowski, D. Seita, M. Laskey, and K. Goldberg · 2021
Cited alongside, same era.
RMA: rapid motor adaptation for legged robots
A. Kumar, Z. Fu, D. Pathak, and J. Malik · 2021
Cited alongside, same era.
Linear policies are sufficient to realize robust bipedal walking on challenging terrains
L. Krishna, G. A. Castillo, U. A. Mishra, A. Hereid, and S. Kolathaya · 2021
Cited alongside, same era.
Imitating task and motion planning with visuomotor transformers
M. Dalal, A. Mandlekar, C. Garrett, A. Handa, R. Salakhutdinov, and D. Fox · 2023
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Scaling up and distilling down: Language-guided robot skill acquisition
H. Ha, P. Florence, and S. Song · 2023
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Sequential dexterity: Chaining dexterous policies for long-horizon manipulation
Y. Chen, C. Wang, L. Fei-Fei, and C. K. Liu · 2023
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General in-hand object rotation with vision and touch
H. Qi, B. Yi, S. Suresh, M. Lambeta, Y. Ma, R. Calandra, and J. Malik · 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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Genaug: Retargeting behaviors to unseen situations via generative augmentation
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J. Siekmann, K. Green, J. Warila, A. Fern, and J. Hurst · 2021
Cited alongside, same era.
Python binding for grasp pose generator (pygpg), Aug. 2021
H. Liang · 2021
Cited alongside, same era.
ProcTHOR: Large-Scale Embodied AI Using Procedural Generation
M. Deitke, E. VanderBilt, A. Herrasti, L. Weihs, J. Salvador, K. Ehsani, W. Han, E. Kolve, A. Farhadi, A. Kembhavi, and R. Mottaghi · 2022
Cited alongside, same era.
Procthor: Large-scale embodied ai using procedural generation
M. Deitke, E. VanderBilt, A. Herrasti, L. Weihs, J. Salvador, K. Ehsani, W. Han, E. Kolve, A. Farhadi, A. Kembhavi, and R. Mottaghi · 2022
Cited alongside, same era.
Ditto: Building digital twins of articulated objects from interaction
Z. Jiang, C.-C. Hsu, and Y. Zhu · 2022
Cited alongside, same era.
Structure from action: Learning interactions for articulated object 3d structure discovery, 2022
N. Nie, S. Y. Gadre, K. Ehsani, and S. Song · 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, J. Ibarz, B. Ichter, A. Irpan, T. Jackson, S. Jesmonth, N. J. Joshi, R. Julian, D. Kalashnikov, Y. Kuang, I. Leal, K.-H. Lee, S. Levine, Y. Lu, U. Malla, D. Manjunath, I. Mordatch, O. Nachum, C. Parada, J. Peralta, E. Perez, K. Pertsch, J. Quiambao, K. Rao, M. Ryoo, G. Salazar, P. Sanketi, K. Sayed, J. Singh, S. Sontakke, A. Stone, C. Tan, H. Tran, V. Vanhoucke, S. Vega, Q. Vuong, F. Xia, T. Xiao, P. Xu, S. Xu, T. Yu, and B. Zitkovich · 2022
Cited alongside, same era.
Z. Chen, S. Kiami, A. Gupta, and V. Kumar · 2023
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Scaling robot learning with semantically imagined experience
T. Yu, T. Xiao, A. Stone, J. Tompson, A. Brohan, S. Wang, J. Singh, C. Tan, D. M, J. Peralta, B. Ichter, K. Hausman, and F. Xia · 2023
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Visual dexterity: In-hand reorientation of novel and complex object shapes
T. Chen, M. Tippur, S. Wu, V. Kumar, E. Adelson, and P. Agrawal · 2023
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Industreal: Transferring contact-rich assembly tasks from simulation to reality
B. Tang, M. A. Lin, I. Akinola, A. Handa, G. S. Sukhatme, F. Ramos, D. Fox, and Y. S. Narang · 2023
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Pre- and post-contact policy decomposition for non-prehensile manipulation with zero-shot sim-to-real transfer
M. Kim, J. Han, J. Kim, and B. Kim · 2023
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Learning generalizable pivoting skills
X. Zhang, S. Jain, B. Huang, M. Tomizuka, and D. Romeres · 2023
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Robot parkour learning
Z. Zhuang, Z. Fu, J. Wang, C. Atkeson, S. Schwertfeger, C. Finn, and H. Zhao · 2023
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Neural volumetric memory for visual locomotion control
R. Yang, G. Yang, and X. Wang · 2023
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Real-world humanoid locomotion with reinforcement learning
I. Radosavovic, T. Xiao, B. Zhang, T. Darrell, J. Malik, and K. Sreenath · 2023
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Champion-level drone racing using deep reinforcement learning
E. Kaufmann, L. Bauersfeld, A. Loquercio, M. Müller, V. Koltun, and D. Scaramuzza · 2023
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Reaching the limit in autonomous racing: Optimal control versus reinforcement learning
Y. Song, A. Romero, M. Müller, V. Koltun, and D. Scaramuzza · 2023
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Dextreme: Transfer of agile in-hand manipulation from simulation to reality
A. Handa, A. Allshire, V. Makoviychuk, A. Petrenko, R. Singh, J. Liu, D. Makoviichuk, K. V. Wyk, A. Zhurkevich, B. Sundaralingam, and Y. S. Narang · 2023
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Diffusion policy: Visuomotor policy learning via action diffusion, 2023
C. Chi, Z. Xu, S. Feng, E. Cousineau, Y. Du, B. Burchfiel, R. Tedrake, and S. Song · 2023
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curobo: Parallelized collision-free minimum-jerk robot motion generation, 2023
B. Sundaralingam, S. K. S. Hari, A. Fishman, C. Garrett, K. V. Wyk, V. Blukis, A. Millane, H. Oleynikova, A. Handa, F. Ramos, N. Ratliff, and D. Fox · 2023
Later among the works it cites.
Perspective fields for single image camera calibration, 2023
L. Jin, J. Zhang, Y. Hold-Geoffroy, O. Wang, K. Matzen, M. Sticha, and D. F. Fouhey · 2023
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Reconciling reality through simulation: A real-to-sim-to-real approach for robust manipulation
M. Torne, A. Simeonov, Z. Li, A. Chan, T. Chen, A. Gupta, and P. Agrawal · 2024
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Grounded sam: Assembling open-world models for diverse visual tasks, 2024
T. Ren, S. Liu, A. Zeng, J. Lin, K. Li, H. Cao, J. Chen, X. Huang, Y. Chen, F. Yan, Z. Zeng, H. Zhang, F. Li, J. Yang, H. Li, Q. Jiang, and L. Zhang · 2024
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L. Yang, B. Kang, Z. Huang, Z. Zhao, X. Xu, J. Feng, and H. Zhao · 2024
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Urdformer: A pipeline for constructing articulated simulation environments from real-world images
Z. Chen, A. Walsman, M. Memmel, K. Mo, A. Fang, K. Vemuri, A. Wu, D. Fox, and A. Gupta · 2024
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Robocasa: Large-scale simulation of everyday tasks for generalist robots
S. Nasiriany, A. Maddukuri, L. Zhang, A. Parikh, A. Lo, A. Joshi, A. Mandlekar, and Y. Zhu · 2024
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Intervengen: Interventional data generation for robust and data-efficient robot imitation learning
R. Hoque, A. Mandlekar, C. Garrett, K. Goldberg, and D. Fox · 2024
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Transic: Sim-to-real policy transfer by learning from online correction
Y. Jiang, C. Wang, R. Zhang, J. Wu, and L. Fei-Fei · 2024
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Reinforcement learning for versatile, dynamic, and robust bipedal locomotion control
Z. Li, X. B. Peng, P. Abbeel, S. Levine, G. Berseth, and K. Sreenath · 2024
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Cyberdemo: Augmenting simulated human demonstration for real-world dexterous manipulation
J. Wang, Y. Qin, K. Kuang, Y. Korkmaz, A. Gurumoorthy, H. Su, and X. Wang · 2024
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Foundationpose: Unified 6d pose estimation and tracking of novel objects, 2024
B. Wen, W. Yang, J. Kautz, and S. Birchfield · 2024
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L. Yang, B. Kang, Z. Huang, Z. Zhao, X. Xu, J. Feng, and H. Zhao · 2024
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