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Scaling robot learning requires data collection pipelines that scale favorably with human effort.
Proximal policy optimization algorithms
J. Schulman, F. Wolski, P. Dhariwal, A. Radford, and O. Klimov · 2017
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Learning hand-eye coordination for robotic grasping with deep learning and large-scale data collection
S. Levine, P. Pastor, A. Krizhevsky, J. Ibarz, and D. Quillen · 2018
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Learning Complex Dexterous Manipulation with Deep Reinforcement Learning and Demonstrations
A. Rajeswaran, V. Kumar, A. Gupta, G. Vezzani, J. Schulman, E. Todorov, and S. Levine · 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 · 2019
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Bayessim: adaptive domain randomization via probabilistic inference for robotics simulators
F. Ramos, R. C. Possas, and D. Fox · 2019
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Continual learning for robotics: Definition, framework, learning strategies, opportunities and challenges
T. Lesort, V. Lomonaco, A. Stoian, D. Maltoni, D. Filliat, and N. Díaz-Rodríguez · 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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Convolutional occupancy networks
S. Peng, M. Niemeyer, L. Mescheder, M. Pollefeys, and A. Geiger · 2020
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Reset-free reinforcement learning via multi-task learning: Learning dexterous manipulation behaviors without human intervention
A. Gupta, J. Yu, T. Z. Zhao, V. Kumar, A. Rovinsky, K. Xu, T. Devlin, and S. Levine · 2021
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Stable-baselines3: Reliable reinforcement learning implementations
A. Raffin, A. Hill, A. Gleave, A. Kanervisto, M. Ernestus, and N. Dormann · 2021
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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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Procthor: Large-scale embodied ai using procedural generation
M. Deitke, E. VanderBilt, A. Herrasti, L. Weihs, K. Ehsani, J. Salvador, W. Han, E. Kolve, A. Kembhavi, and R. Mottaghi · 2022
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Ditto: Building digital twins of articulated objects from interaction
Z. Jiang, C.-C. Hsu, and Y. Zhu · 2022
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Structure from action: Learning interactions for articulated object 3d structure discovery
N. Nie, S. Y. Gadre, K. Ehsani, and S. Song · 2022
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Nvidia isaac-sim
NVIDIA · 2022
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Autonomous robotic reinforcement learning with asynchronous human feedback
M. Balsells, M. Torne, Z. Wang, S. Desai, P. Agrawal, and A. Gupta · 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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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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Phone2proc: Bringing robust robots into our chaotic world
M. Deitke, R. Hendrix, A. Farhadi, K. Ehsani, and A. Kembhavi · 2023
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J. Yang, M. S. Mark, B. Vu, A. Sharma, J. Bohg, and C. Finn · 2023
Later among the works it cites.
Learning fine-grained bimanual manipulation with low-cost hardware
T. Z. Zhao, V. Kumar, S. Levine, and C. Finn · 2023
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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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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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H. Ha, P. Florence, and S. Song · 2023
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Imitation bootstrapped reinforcement learning, 2023
H. Hu, S. Mirchandani, and D. Sadigh · 2023
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3d gaussian splatting for real-time radiance field rendering
B. Kerbl, G. Kopanas, T. Leimkühler, and G. Drettakis · 2023
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Orbit: A unified simulation framework for interactive robot learning environments
M. Mittal, C. Yu, Q. Yu, J. Liu, N. Rudin, D. Hoeller, J. L. Yuan, R. Singh, Y. Guo, H. Mazhar, et al · 2023
Cited alongside, same era.
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
Cited alongside, same era.
Self-improving robots: End-to-end autonomous visuomotor reinforcement learning
A. Sharma, A. M. Ahmed, R. Ahmad, and C. Finn · 2023
Cited alongside, same era.
A real2sim2real method for robust object grasping with neural surface reconstruction
L. Wang, R. Guo, Q. Vuong, Y. Qin, H. Su, and H. Christensen · 2023
Cited alongside, same era.
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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Openvla: An open-source vision-language-action model
M. J. Kim, K. Pertsch, S. Karamcheti, T. Xiao, A. Balakrishna, S. Nair, R. Rafailov, E. Foster, G. Lam, P. Sanketi, et al · 2024
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Evaluating real-world robot manipulation policies in simulation
X. Li, K. Hsu, J. Gu, K. Pertsch, O. Mees, H. R. Walke, C. Fu, I. Lunawat, I. Sieh, S. Kirmani, S. Levine, J. Wu, C. Finn, H. Su, Q. Vuong, and T. Xiao · 2024
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Serl: A software suite for sample-efficient robotic reinforcement learning, 2024
J. Luo, Z. Hu, C. Xu, Y. L. Tan, J. Berg, A. Sharma, S. Schaal, C. Finn, A. Gupta, and S. Levine · 2024
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Asid: Active exploration for system identification in robotic manipulation
M. Memmel, A. Wagenmaker, C. Zhu, P. Yin, 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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Octo: An open-source generalist robot policy
Octo Model Team, D. Ghosh, H. Walke, K. Pertsch, K. Black, O. Mees, S. Dasari, J. Hejna, C. Xu, J. Luo, T. Kreiman, Y. Tan, L. Y. Chen, P. Sanketi, Q. Vuong, T. Xiao, D. Sadigh, C. Finn, and S. Levine · 2024
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Octo: An open-source generalist robot policy
O. M. Team, D. Ghosh, H. Walke, K. Pertsch, K. Black, O. Mees, S. Dasari, J. Hejna, T. Kreiman, C. Xu, et al · 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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Video2game: Real-time, interactive, realistic and browser-compatible environment from a single video
H. Xia, Z.-H. Lin, W.-C. Ma, and S. Wang · 2024
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