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To train generalist robot policies, machine learning methods often require a substantial amount of expert human teleoperation data.
Selectively damped least squares for inverse kinematics
S. R. Buss and J.-S. Kim · 2005
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Selectively damped least squares for inverse kinematics
S. R. Buss and J.-S. Kim · 2005
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Towards autonomous robotic butlers: Lessons learned with the pr2
J. Bohren, R. B. Rusu, E. G. Jones, E. Marder-Eppstein, C. Pantofaru, M. Wise, L. Mösenlechner, W. Meeussen, and S. Holzer · 2011
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Towards autonomous robotic butlers: Lessons learned with the pr2
J. Bohren, R. B. Rusu, E. G. Jones, E. Marder-Eppstein, C. Pantofaru, M. Wise, L. Mösenlechner, W. Meeussen, and S. Holzer · 2011
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Technical review of the da vinci surgical telemanipulator
C. Freschi, V. Ferrari, F. Melfi, M. Ferrari, F. Mosca, and A. Cuschieri · 2013
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Technical review of the da vinci surgical telemanipulator
C. Freschi, V. Ferrari, F. Melfi, M. Ferrari, F. Mosca, and A. Cuschieri · 2013
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End-to-end training of deep visuomotor policies
S. Levine, C. Finn, T. Darrell, and P. Abbeel · 2016
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End-to-end training of deep visuomotor policies
S. Levine, C. Finn, T. Darrell, and P. Abbeel · 2016
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Using dvrk teleoperation to facilitate deep learning of automation tasks for an industrial robot
J. Liang, J. Mahler, M. Laskey, P. Li, and K. Goldberg · 2017
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Yale-cmu-berkeley dataset for robotic manipulation research
B. Calli, A. Singh, J. Bruce, A. Walsman, K. Konolige, S. Srinivasa, P. Abbeel, and A. M. Dollar · 2017
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Using dvrk teleoperation to facilitate deep learning of automation tasks for an industrial robot
J. Liang, J. Mahler, M. Laskey, P. Li, and K. Goldberg · 2017
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Yale-cmu-berkeley dataset for robotic manipulation research
B. Calli, A. Singh, J. Bruce, A. Walsman, K. Konolige, S. Srinivasa, P. Abbeel, and A. M. Dollar · 2017
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Scalable deep reinforcement learning for vision-based robotic manipulation
D. Kalashnikov, A. Irpan, P. Pastor, J. Ibarz, A. Herzog, E. Jang, D. Quillen, E. Holly, M. Kalakrishnan, V. Vanhoucke, et al · 2018
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Scalable deep reinforcement learning for vision-based robotic manipulation
D. Kalashnikov, A. Irpan, P. Pastor, J. Ibarz, A. Herzog, E. Jang, D. Quillen, E. Holly, M. Kalakrishnan, V. Vanhoucke, et al · 2018
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Solving rubik’s cube with a robot hand
I. Akkaya, M. Andrychowicz, M. Chociej, M. Litwin, B. McGrew, A. Petron, A. Paino, M. Plappert, G. Powell, R. Ribas, et al · 2019
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Learning agile and dynamic motor skills for legged robots
J. Hwangbo, J. Lee, A. Dosovitskiy, D. Bellicoso, V. Tsounis, V. Koltun, and M. Hutter · 2019
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Robonet: Large-scale multi-robot learning
S. Dasari, F. Ebert, S. Tian, S. Nair, B. Bucher, K. Schmeckpeper, S. Singh, S. Levine, and C. Finn · 2019
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Solving rubik’s cube with a robot hand
I. Akkaya, M. Andrychowicz, M. Chociej, M. Litwin, B. McGrew, A. Petron, A. Paino, M. Plappert, G. Powell, R. Ribas, et al · 2019
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Learning agile and dynamic motor skills for legged robots
J. Hwangbo, J. Lee, A. Dosovitskiy, D. Bellicoso, V. Tsounis, V. Koltun, and M. Hutter · 2019
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Robonet: Large-scale multi-robot learning
S. Dasari, F. Ebert, S. Tian, S. Nair, B. Bucher, K. Schmeckpeper, S. Singh, S. Levine, and C. Finn · 2019
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Recent advances in robot learning from demonstration
H. Ravichandar, A. S. Polydoros, S. Chernova, and A. Billard · 2020
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Dexpilot: Vision-based teleoperation of dexterous robotic hand-arm system
A. Handa, K. Van Wyk, W. Yang, J. Liang, Y.-W. Chao, Q. Wan, S. Birchfield, N. Ratliff, and D. Fox · 2020
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Grasping in the wild: Learning 6dof closed-loop grasping from low-cost demonstrations
S. Song, A. Zeng, J. Lee, and T. Funkhouser · 2020
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An image is worth 16x16 words: Transformers for image recognition at scale
A. Dosovitskiy, L. Beyer, A. Kolesnikov, D. Weissenborn, X. Zhai, T. Unterthiner, M. Dehghani, M. Minderer, G. Heigold, S. Gelly, et al · 2020
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Recent advances in robot learning from demonstration
H. Ravichandar, A. S. Polydoros, S. Chernova, and A. Billard · 2020
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Dexpilot: Vision-based teleoperation of dexterous robotic hand-arm system
A. Handa, K. Van Wyk, W. Yang, J. Liang, Y.-W. Chao, Q. Wan, S. Birchfield, N. Ratliff, and D. Fox · 2020
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Grasping in the wild: Learning 6dof closed-loop grasping from low-cost demonstrations
S. Song, A. Zeng, J. Lee, and T. Funkhouser · 2020
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An image is worth 16x16 words: Transformers for image recognition at scale
A. Dosovitskiy, L. Beyer, A. Kolesnikov, D. Weissenborn, X. Zhai, T. Unterthiner, M. Dehghani, M. Minderer, G. Heigold, S. Gelly, et al · 2020
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Rma: Rapid motor adaptation for legged robots
A. Kumar, Z. Fu, D. Pathak, and J. Malik · 2021
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Controlling ocean one: Human–robot collaboration for deep-sea manipulation
G. Brantner and O. Khatib · 2021
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Frankmocap: A monocular 3d whole-body pose estimation system via regression and integration
Y. Rong, T. Shiratori, and H. Joo · 2021
Cited alongside, same era.
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
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.
Controlling ocean one: Human–robot collaboration for deep-sea manipulation
G. Brantner and O. Khatib · 2021
Cited alongside, same era.
Frankmocap: A monocular 3d whole-body pose estimation system via regression and integration
Y. Rong, T. Shiratori, and H. Joo · 2021
Cited alongside, same era.
Learning fine-grained bimanual manipulation with low-cost hardware
T. Z. Zhao, V. Kumar, S. Levine, and C. Finn · 2023
Later among the works it cites.
Anyteleop: A general vision-based dexterous robot arm-hand teleoperation system
Y. Qin, W. Yang, B. Huang, K. Van Wyk, H. Su, X. Wang, Y.-W. Chao, and D. Fox · 2023
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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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Open x-embodiment: Robotic learning datasets and rt-x models
A. Padalkar, A. Pooley, A. Jain, A. Bewley, A. Herzog, A. Irpan, A. Khazatsky, A. Rai, A. Singh, A. Brohan, et al · 2023
Later among the works it cites.
Bridgedata v2: A dataset for robot learning at scale
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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
Cited alongside, same era.
Robot learning on the job: Human-in-the-loop autonomy and learning during deployment
H. Liu, S. Nasiriany, L. Zhang, Z. Bao, and Y. Zhu · 2022
Cited alongside, same era.
Robotic telekinesis: Learning a robotic hand imitator by watching humans on youtube
A. Sivakumar, K. Shaw, and D. Pathak · 2022
Cited alongside, same era.
Embodied hands: Modeling and capturing hands and bodies together
J. Romero, D. Tzionas, and M. J. Black · 2022
Cited alongside, same era.
Robot learning on the job: Human-in-the-loop autonomy and learning during deployment
H. Liu, S. Nasiriany, L. Zhang, Z. Bao, and Y. Zhu · 2022
Cited alongside, same era.
Robotic telekinesis: Learning a robotic hand imitator by watching humans on youtube
A. Sivakumar, K. Shaw, and D. Pathak · 2022
Cited alongside, same era.
Embodied hands: Modeling and capturing hands and bodies together
J. Romero, D. Tzionas, and M. J. Black · 2022
Cited alongside, same era.
H. R. Walke, K. Black, T. Z. Zhao, Q. Vuong, C. Zheng, P. Hansen-Estruch, A. W. He, V. Myers, M. J. Kim, M. Du, et al · 2023
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Ranger mini
AgileX Robotics · 2023
Later among the works it cites.
Dexterous functional grasping
A. Agarwal, S. Uppal, K. Shaw, and D. Pathak · 2023
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An unbiased look at datasets for visuo-motor pre-training
S. Dasari, M. K. Srirama, U. Jain, and A. Gupta · 2023
Later among the works it cites.
Bunny-visionpro: Bimanual dexterous teleoperation with real-time retargeting using vision pro
R. Ding, Y. Qin, J. Zhu, C. Jia, S. Yang, R. Yang, X. Qi, and X. Wang · 2024
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Using apple vision pro to train and control robots, 2024
Y. Park and P. Agrawal · 2024
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Dexcap: Scalable and portable mocap data collection system for dexterous manipulation
C. Wang, H. Shi, W. Wang, R. Zhang, L. Fei-Fei, and C. K. Liu · 2024
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Learning dexterity from human hand motion in internet videos
K. Shaw, S. Bahl, A. Sivakumar, A. Kannan, and D. Pathak · 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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Learning visuotactile skills with two multifingered hands
T. Lin, Y. Zhang, Q. Li, H. Qi, B. Yi, S. Levine, and J. Malik · 2024
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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
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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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LEAP hand v2: Dexterous, low-cost anthropomorphic hybrid rigid soft hand for robot learning
K. Shaw and D. Pathak · 2024
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Reconstructing hands in 3D with transformers
G. Pavlakos, D. Shan, I. Radosavovic, A. Kanazawa, D. Fouhey, and J. Malik · 2024
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Adaptive mobile manipulation for articulated objects in the open world
H. Xiong, R. Mendonca, K. Shaw, and D. Pathak · 2024
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Bunny-visionpro: Bimanual dexterous teleoperation with real-time retargeting using vision pro
R. Ding, Y. Qin, J. Zhu, C. Jia, S. Yang, R. Yang, X. Qi, and X. Wang · 2024
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Using apple vision pro to train and control robots, 2024
Y. Park and P. Agrawal · 2024
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Dexcap: Scalable and portable mocap data collection system for dexterous manipulation
C. Wang, H. Shi, W. Wang, R. Zhang, L. Fei-Fei, and C. K. Liu · 2024
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Learning dexterity from human hand motion in internet videos
K. Shaw, S. Bahl, A. Sivakumar, A. Kannan, and D. Pathak · 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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Learning visuotactile skills with two multifingered hands
T. Lin, Y. Zhang, Q. Li, H. Qi, B. Yi, S. Levine, and J. Malik · 2024
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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
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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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LEAP hand v2: Dexterous, low-cost anthropomorphic hybrid rigid soft hand for robot learning
K. Shaw and D. Pathak · 2024
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Reconstructing hands in 3D with transformers
G. Pavlakos, D. Shan, I. Radosavovic, A. Kanazawa, D. Fouhey, and J. Malik · 2024
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Adaptive mobile manipulation for articulated objects in the open world
H. Xiong, R. Mendonca, K. Shaw, and D. Pathak · 2024
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