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The development of general robotic systems capable of manipulating in unstructured environments is a significant challenge.
Hierarchical task and motion planning in the now
Leslie Pack Kaelbling and Tomás Lozano-Pérez · 2011
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The open motion planning library
Ioan A Sucan, Mark Moll, and Lydia E Kavraki · 2012
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Integrated task and motion planning in belief space
Leslie Pack Kaelbling and Tomás Lozano-Pérez · 2013
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Self-supervised visual descriptor learning for dense correspondence
Tanner Schmidt, Richard Newcombe, and Dieter Fox · 2016
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kpam: Keypoint affordances for category-level robotic manipulation
Lucas Manuelli, Wei Gao, Peter Florence, and Russ Tedrake · 2019
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Learning transferable visual models from natural language supervision
Alec Radford, Jong Wook Kim, Chris Hallacy, Aditya Ramesh, Gabriel Goh, Sandhini Agarwal, Girish Sastry, Amanda Askell, Pamela Mishkin, Jack Clark, et al · 2021
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Graspness discovery in clutters for fast and accurate grasp detection
Chenxi Wang, Hao-Shu Fang, Minghao Gou, Hongjie Fang, Jin Gao, and Cewu Lu · 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, Alex Herzog, Jasmine Hsu, et al · 2022
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Domain randomization-enhanced depth simulation and restoration for perceiving and grasping specular and transparent objects
Qiyu Dai, Jiyao Zhang, Qiwei Li, Tianhao Wu, Hao Dong, Ziyuan Liu, Ping Tan, and He Wang · 2022
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Neural descriptor fields: Se (3)-equivariant object representations for manipulation
Anthony Simeonov, Yilun Du, Andrea Tagliasacchi, Joshua B Tenenbaum, Alberto Rodriguez, Pulkit Agrawal, and Vincent Sitzmann · 2022
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Sequence-of-constraints mpc: Reactive timing-optimal control of sequential manipulation
Marc Toussaint, Jason Harris, Jung-Su Ha, Danny Driess, and Wolfgang Hönig · 2022
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You only demonstrate once: Category-level manipulation from single visual demonstration
Bowen Wen, Wenzhao Lian, Kostas Bekris, and Stefan Schaal · 2022
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Josh Achiam, Steven Adler, Sandhini Agarwal, Lama Ahmad, Ilge Akkaya, Florencia Leoni Aleman, Diogo Almeida, Janko Altenschmidt, Sam Altman, Shyamal Anadkat, et al · 2023
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Rt-2: Vision-language-action models transfer web knowledge to robotic control
Anthony Brohan, Noah Brown, Justice Carbajal, Yevgen Chebotar, Xi Chen, Krzysztof Choromanski, Tianli Ding, Danny Driess, Avinava Dubey, Chelsea Finn, et al · 2023
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Diffusion policy: Visuomotor policy learning via action diffusion
Cheng Chi, Zhenjia Xu, Siyuan Feng, Eric Cousineau, Yilun Du, Benjamin Burchfiel, Russ Tedrake, and Shuran Song · 2023
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Palm-e: An embodied multimodal language model
Danny Driess, Fei Xia, Mehdi SM Sajjadi, Corey Lynch, Aakanksha Chowdhery, Brian Ichter, Ayzaan Wahid, Jonathan Tompson, Quan Vuong, Tianhe Yu, et al · 2023
Cited alongside, same era.
Anygrasp: Robust and efficient grasp perception in spatial and temporal domains
Hao-Shu Fang, Chenxi Wang, Hongjie Fang, Minghao Gou, Jirong Liu, Hengxu Yan, Wenhai Liu, Yichen Xie, and Cewu Lu · 2023
Cited alongside, same era.
Foundation models in robotics: Applications, challenges, and the future
Roya Firoozi, Johnathan Tucker, Stephen Tian, Anirudha Majumdar, Jiankai Sun, Weiyu Liu, Yuke Zhu, Shuran Song, Ashish Kapoor, Karol Hausman, et al · 2023
Cited alongside, same era.
3d-llm: Injecting the 3d world into large language models
Yining Hong, Haoyu Zhen, Peihao Chen, Shuhong Zheng, Yilun Du, Zhenfang Chen, and Chuang Gan · 2023
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Voxposer: Composable 3d value maps for robotic manipulation with language models
Manipulate-anything: Automating real-world robots using vision-language models
Jiafei Duan, Wentao Yuan, Wilbert Pumacay, Yi Ru Wang, Kiana Ehsani, Dieter Fox, and Ranjay Krishna · 2024
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Real-world robot applications of foundation models: A review
Kento Kawaharazuka, Tatsuya Matsushima, Andrew Gambardella, Jiaxian Guo, Chris Paxton, and Andy Zeng · 2024
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Openvla: An open-source vision-language-action model
Moo Jin Kim, Karl Pertsch, Siddharth Karamcheti, Ted Xiao, Ashwin Balakrishna, Suraj Nair, Rafael Rafailov, Ethan Foster, Grace Lam, Pannag Sanketi, et al · 2024
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Affordance-guided reinforcement learning via visual prompting
Olivia Y Lee, Annie Xie, Kuan Fang, Karl Pertsch, and Chelsea Finn · 2024
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Scaffolding coordinates to promote vision-language coordination in large multi-modal models
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Wenlong Huang, Chen Wang, Ruohan Zhang, Yunzhu Li, Jiajun Wu, and Li Fei-Fei · 2023
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Segment anything
Alexander Kirillov, Eric Mintun, Nikhila Ravi, Hanzi Mao, Chloe Rolland, Laura Gustafson, Tete Xiao, Spencer Whitehead, Alexander C Berg, Wan-Yen Lo, et al · 2023
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Ziyi Lin, Chris Liu, Renrui Zhang, Peng Gao, Longtian Qiu, Han Xiao, Han Qiu, Chen Lin, Wenqi Shao, Keqin Chen, et al · 2023
Cited alongside, same era.
Progprompt: Generating situated robot task plans using large language models
Ishika Singh, Valts Blukis, Arsalan Mousavian, Ankit Goyal, Danfei Xu, Jonathan Tremblay, Dieter Fox, Jesse Thomason, and Animesh Garg · 2023
Cited alongside, same era.
Curobo: Parallelized collision-free robot motion generation
Balakumar Sundaralingam, Siva Kumar Sastry Hari, Adam Fishman, Caelan Garrett, Karl Van Wyk, Valts Blukis, Alexander Millane, Helen Oleynikova, Ankur Handa, Fabio Ramos, et al · 2023
Cited alongside, same era.
Llama 2: Open foundation and fine-tuned chat models
Hugo Touvron, Louis Martin, Kevin Stone, Peter Albert, Amjad Almahairi, Yasmine Babaei, Nikolay Bashlykov, Soumya Batra, Prajjwal Bhargava, Shruti Bhosale, et al · 2023
Cited alongside, same era.
Any-point trajectory modeling for policy learning
Chuan Wen, Xingyu Lin, John So, Kai Chen, Qi Dou, Yang Gao, and Pieter Abbeel · 2023
Cited alongside, same era.
Sigmoid loss for language image pre-training
Xiaohua Zhai, Basil Mustafa, Alexander Kolesnikov, and Lucas Beyer · 2023
Cited alongside, same era.
Xuanyu Lei, Zonghan Yang, Xinrui Chen, Peng Li, and Yang Liu · 2024
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Moka: Open-vocabulary robotic manipulation through mark-based visual prompting
Fangchen Liu, Kuan Fang, Pieter Abbeel, and Sergey Levine · 2024
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Pivot: Iterative visual prompting elicits actionable knowledge for vlms
Soroush Nasiriany, Fei Xia, Wenhao Yu, Ted Xiao, Jacky Liang, Ishita Dasgupta, Annie Xie, Danny Driess, Ayzaan Wahid, Zhuo Xu, et al · 2024
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Triposr: Fast 3d object reconstruction from a single image
Dmitry Tochilkin, David Pankratz, Zexiang Liu, Zixuan Huang, Adam Letts, Yangguang Li, Ding Liang, Christian Laforte, Varun Jampani, and Yan-Pei Cao · 2024
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Foundationpose: Unified 6d pose estimation and tracking of novel objects
Bowen Wen, Wei Yang, Jan Kautz, and Stan Birchfield · 2024
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Robopoint: A vision-language model for spatial affordance prediction for robotics
Wentao Yuan, Jiafei Duan, Valts Blukis, Wilbert Pumacay, Ranjay Krishna, Adithyavairavan Murali, Arsalan Mousavian, and Dieter Fox · 2024
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Lvdiffusor: Distilling functional rearrangement priors from large models into diffusor
Yiming Zeng, Mingdong Wu, Long Yang, Jiyao Zhang, Hao Ding, Hui Cheng, and Hao Dong · 2024
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Generative category-level object pose estimation via diffusion models
Jiyao Zhang, Mingdong Wu, and Hao Dong · 2024
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Triplane meets gaussian splatting: Fast and generalizable single-view 3d reconstruction with transformers
Zi-Xin Zou, Zhipeng Yu, Yuan-Chen Guo, Yangguang Li, Ding Liang, Yan-Pei Cao, and Song-Hai Zhang · 2024
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Omni6dpose: A benchmark and model for universal 6d object pose estimation and tracking
Jiyao Zhang, Weiyao Huang, Bo Peng, Mingdong Wu, Fei Hu, Zijian Chen, Bo Zhao, and Hao Dong · 2025
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