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Imitation learning has unlocked the potential for robots to exhibit highly dexterous behaviours.
Hybrid position/force control of manipulators
M. H. Raibert and J. J. Craig · 1981
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Compliance and force control for computer controlled manipulators
M. T. Mason · 1981
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Task frames in robot manipulation
D. H. Ballard · 1984
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The lack of a priori distinctions between learning algorithms
D. H. Wolpert · 1996
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A reduction of imitation learning and structured prediction to no-regret online learning
S. Ross, G. Gordon, and D. Bagnell · 2011
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Task space regions: A framework for pose-constrained manipulation planning
D. Berenson, S. Srinivasa, and J. Kuffner · 2011
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Rearrangement planning using object-centric and robot-centric action spaces
J. E. King, M. Cognetti, and S. S. Srinivasa · 2016
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Roboturk: A crowdsourcing platform for robotic skill learning through imitation
A. Mandlekar, Y. Zhu, A. Garg, J. Booher, M. Spero, A. Tung, J. Gao, J. Emmons, A. Gupta, E. Orbay, et al · 2018
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Dense object nets: Learning dense visual object descriptors by and for robotic manipulation
P. R. Florence, L. Manuelli, and R. Tedrake · 2018
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Relay policy learning: Solving long-horizon tasks via imitation and reinforcement learning
A. Gupta, V. Kumar, C. Lynch, S. Levine, and K. Hausman · 2019
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kpam: Keypoint affordances for category-level robotic manipulation
L. Manuelli, W. Gao, P. Florence, and R. Tedrake · 2019
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General e (2)-equivariant steerable cnns
M. Weiler and G. Cesa · 2019
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Unsupervised learning of object keypoints for perception and control
T. D. Kulkarni, A. Gupta, C. Ionescu, S. Borgeaud, M. Reynolds, A. Zisserman, and V. Mnih · 2019
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On the continuity of rotation representations in neural networks
Y. Zhou, C. Barnes, J. Lu, J. Yang, and H. Li · 2019
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Learning to generalize across long-horizon tasks from human demonstrations
A. Mandlekar, D. Xu, R. Martín-Martín, S. Savarese, and L. Fei-Fei · 2020
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Object-centric task and motion planning in dynamic environments
T. Migimatsu and J. Bohg · 2020
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Ikea furniture assembly environment for long-horizon complex manipulation tasks
Y. Lee, E. S. Hu, and J. J. Lim · 2021
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Grasping with chopsticks: Combating covariate shift in model-free imitation learning for fine manipulation
L. Ke, J. Wang, T. Bhattacharjee, B. Boots, and S. Srinivasa · 2021
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Volumetric grasping network: Real-time 6 dof grasp detection in clutter
M. Breyer, J. J. Chung, L. Ott, R. Siegwart, and J. Nieto · 2021
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Synergies between affordance and geometry: 6-dof grasp detection via implicit representations
Z. Jiang, Y. Zhu, M. Svetlik, K. Fang, and Y. Zhu · 2021
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Generalizing object-centric task-axes controllers using keypoints
M. Sharma and O. Kroemer · 2021
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kpam 2.0: Feedback control for category-level robotic manipulation
W. Gao and R. Tedrake · 2021
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
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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
Later among the works it cites.
Behavior generation with latent actions
S. Lee, Y. Wang, H. Etukuru, H. J. Kim, N. M. M. Shafiullah, and L. Pinto · 2024
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Mobile aloha: Learning bimanual mobile manipulation with low-cost whole-body teleoperation
Z. Fu, T. Z. Zhao, and C. Finn · 2024
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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
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Universal visual decomposer: Long-horizon manipulation made easy
Z. Zhang, Y. Li, O. Bastani, A. Gupta, D. Jayaraman, Y. J. Ma, and L. Weihs · 2024
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Neural descriptor fields: Se(3)-equivariant object representations for manipulation
A. Simeonov, Y. Du, A. Tagliasacchi, J. B. Tenenbaum, A. Rodriguez, P. Agrawal, and V. Sitzmann · 2022
Cited alongside, same era.
Equivariant q q learning in spatial action spaces
D. Wang, R. Walters, X. Zhu, and R. Platt · 2022
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Sample efficient grasp learning using equivariant models
X. Zhu, D. Wang, O. Biza, G. Su, R. Walters, and R. Platt · 2022
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Viola: Object-centric imitation learning for vision-based robot manipulation
Y. Zhu, A. Joshi, P. Stone, and Y. Zhu · 2022
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Deep ViT Features as Dense Visual Descriptors
S. Amir, Y. Gandelsman, S. Bagon, and T. Dekel · 2022
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Diffusion policy: Visuomotor policy learning via action diffusion
C. Chi, S. Feng, Y. Du, Z. Xu, E. Cousineau, B. Burchfiel, and S. Song · 2023
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Learning Fine-Grained Bimanual Manipulation with Low-Cost Hardware
T. Z. Zhao, V. Kumar, S. Levine, and C. Finn · 2023
Cited alongside, same era.
Roboagent: Generalization and efficiency in robot manipulation via semantic augmentations and action chunking
H. Bharadhwaj, J. Vakil, M. Sharma, A. Gupta, S. Tulsiani, and V. Kumar · 2024
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Robotic perception and manipulation: Leveraging deep learning methods for efficient instance segmentation and multi-fingered grasping
F. Ceola · 2024
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Dinobot: Robot manipulation via retrieval and alignment with vision foundation models
N. D. Palo and E. Johns · 2024
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Rekep: Spatio-temporal reasoning of relational keypoint constraints for robotic manipulation
W. Huang, C. Wang, Y. Li, R. Zhang, and L. Fei-Fei · 2024
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D 3 fields: Dynamic 3d descriptor fields for zero-shot generalizable rearrangement
Y. Wang, M. Zhang, Z. Li, T. Kelestemur, K. Driggs-Campbell, J. Wu, L. Fei-Fei, and Y. Li · 2024
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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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Keypoint action tokens enable in-context imitation learning in robotics
N. Di Palo and E. Johns · 2024
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3d diffuser actor: Policy diffusion with 3d scene representations
T.-W. Ke, N. Gkanatsios, and K. Fragkiadaki · 2024
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3d diffusion policy: Generalizable visuomotor policy learning via simple 3d representations
Y. Ze, G. Zhang, K. Zhang, C. Hu, M. Wang, and H. Xu · 2024
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FoundationPose: Unified 6d pose estimation and tracking of novel objects
B. Wen, W. Yang, J. Kautz, and S. Birchfield · 2024
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Bi-kvil: Keypoints-based visual imitation learning of bimanual manipulation tasks
J. Gao, X. Jin, F. Krebs, N. Jaquier, and T. Asfour · 2024
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Ditto: Demonstration imitation by trajectory transformation
N. Heppert, M. Argus, T. Welschehold, T. Brox, and A. Valada · 2024
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M. Pan, J. Zhang, T. Wu, Y. Zhao, W. Gao, and H. Dong · 2025
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