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Teaching robots dexterous manipulation skills, such as tool use, presents a significant challenge.
Planning for dexterous manipulation with sliding contacts
Jeffrey C. Trinkle and Richard P. Paul · 1990
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Allison M Okamura, Niels Smaby, and Mark R Cutkosky · 2000
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Planning motions compliant to complex contact states
Xuerong Ji and Jing Xiao · 2001
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Rapidly-exploring random trees: Progress and prospects
Steven M LaValle and James J Kuffner · 2001
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Adaptive virtual fixtures for machine-assisted teleoperation tasks
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Continuous shared control for stabilizing reaching and grasping with brain-machine interfaces
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Diederik P Kingma · 2014
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Shared autonomy via hindsight optimization
Shervin Javdani, Siddhartha S Srinivasa, and J Andrew Bagnell · 2015
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U-net: Convolutional networks for biomedical image segmentation
Olaf Ronneberger, Philipp Fischer, and Thomas Brox · 2015
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An autonomous robotic assistant for drinking
Sebastian Schröer, Ingo Killmann, Barbara Frank, Martin Völker, Lukas Fiederer, Tonio Ball, and Wolfram Burgard · 2015
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Imitation learning: A survey of learning methods
Ahmed Hussein, Mohamed Medhat Gaber, Eyad Elyan, and Chrisina Jayne · 2017
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Proximal policy optimization algorithms
John Schulman, Filip Wolski, Prafulla Dhariwal, Alec Radford, and Oleg Klimov · 2017
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Parallel autonomy in automated vehicles: Safe motion generation with minimal intervention
Wilko Schwarting, Javier Alonso-Mora, Liam Pauli, Sertac Karaman, and Daniela Rus · 2017
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Domain randomization for transferring deep neural networks from simulation to the real world
Josh Tobin, Rachel Fong, Alex Ray, Jonas Schneider, Wojciech Zaremba, and Pieter Abbeel · 2017
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Decoupled weight decay regularization
I Loshchilov · 2018
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Film: Visual reasoning with a general conditioning layer
Ethan Perez, Florian Strub, Harm De Vries, Vincent Dumoulin, and Aaron Courville · 2018
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Shared autonomy via deep reinforcement learning
Siddharth Reddy, Anca D Dragan, and Sergey Levine · 2018
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Highly parallelized data-driven mpc for minimal intervention shared control
Alexander Broad, Todd Murphey, and Brenna Argall · 2019
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Learning dexterous in-hand manipulation
OpenAI: Marcin Andrychowicz, Bowen Baker, Maciek Chociej, Rafal Jozefowicz, Bob McGrew, Jakub Pachocki, Arthur Petron, Matthias Plappert, Glenn Powell, Alex Ray, et al · 2020
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Ave: Assistance via empowerment
Yuqing Du, Stas Tiomkin, Emre Kiciman, Daniel Polani, Pieter Abbeel, and Anca Dragan · 2020
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Dexpilot: Vision-based teleoperation of dexterous robotic hand-arm system
Ankur Handa, Karl Van Wyk, Wei Yang, Jacky Liang, Yu-Wei Chao, Qian Wan, Stan Birchfield, Nathan Ratliff, and Dieter Fox · 2020
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Denoising diffusion probabilistic models
Jonathan Ho, Ajay Jain, and Pieter Abbeel · 2020
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Offline reinforcement learning: Tutorial, review, and perspectives on open problems
Sergey Levine, Aviral Kumar, George Tucker, and Justin Fu · 2020
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Denoising diffusion implicit models
Jiaming Song, Chenlin Meng, and Stefano Ermon · 2020
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Isaac gym: High performance gpu-based physics simulation for robot learning
Open x-embodiment: Robotic learning datasets and rt-x models
Abby O’Neill, Abdul Rehman, Abhinav Gupta, Abhiram Maddukuri, Abhishek Gupta, Abhishek Padalkar, Abraham Lee, Acorn Pooley, Agrim Gupta, Ajay Mandlekar, et al · 2023
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In-hand object rotation via rapid motor adaptation
Haozhi Qi, Ashish Kumar, Roberto Calandra, Yi Ma, and Jitendra Malik · 2023
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Anyteleop: A general vision-based dexterous robot arm-hand teleoperation system
Yuzhe Qin, Wei Yang, Binghao Huang, Karl Van Wyk, Hao Su, Xiaolong Wang, Yu-Wei Chao, and Dieter Fox · 2023
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Robot learning with sensorimotor pre-training
Ilija Radosavovic, Baifeng Shi, Letian Fu, Ken Goldberg, Trevor Darrell, and Jitendra Malik · 2023
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Leap hand: Low-cost, efficient, and anthropomorphic hand for robot learning
Kenneth Shaw, Ananye Agarwal, and Deepak Pathak · 2023
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Viktor Makoviychuk, Lukasz Wawrzyniak, Yunrong Guo, Michelle Lu, Kier Storey, Miles Macklin, David Hoeller, Nikita Rudin, Arthur Allshire, Ankur Handa, et al · 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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Planning with diffusion for flexible behavior synthesis
Michael Janner, Yilun Du, Joshua B Tenenbaum, and Sergey Levine · 2022
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First contact: Unsupervised human-machine co-adaptation via mutual information maximization
Siddharth Reddy, Sergey Levine, and Anca Dragan · 2022
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Learning purely tactile in-hand manipulation with a torque-controlled hand
Leon Sievers, Johannes Pitz, and Berthold Bäuml · 2022
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Robotic telekinesis: Learning a robotic hand imitator by watching humans on youtube
Aravind Sivakumar, Kenneth Shaw, and Deepak Pathak · 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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Hugo Touvron, Thibaut Lavril, Gautier Izacard, Xavier Martinet, Marie-Anne Lachaux, Timothée Lacroix, Baptiste Rozière, Naman Goyal, Eric Hambro, Faisal Azhar, et al · 2023
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Rotating without seeing: Towards in-hand dexterity through touch
Zhao-Heng Yin, Binghao Huang, Yuzhe Qin, Qifeng Chen, and Xiaolong Wang · 2023
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To the noise and back: Diffusion for shared autonomy
Takuma Yoneda, Luzhe Sun, Bradly Stadie, Matthew Walter, et al · 2023
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Bunny-visionpro: Real-time bimanual dexterous teleoperation for imitation learning
Runyu Ding, Yuzhe Qin, Jiyue Zhu, Chengzhe Jia, Shiqi Yang, Ruihan Yang, Xiaojuan Qi, and Xiaolong Wang · 2024
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Learning universal policies via text-guided video generation
Yilun Du, Sherry Yang, Bo Dai, Hanjun Dai, Ofir Nachum, Josh Tenenbaum, Dale Schuurmans, and Pieter Abbeel · 2024
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Droid: A large-scale in-the-wild robot manipulation dataset
Alexander Khazatsky, Karl Pertsch, Suraj Nair, Ashwin Balakrishna, Sudeep Dasari, Siddharth Karamcheti, Soroush Nasiriany, Mohan Kumar Srirama, Lawrence Yunliang Chen, Kirsty Ellis, et al · 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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Twisting lids off with two hands
Toru Lin, Zhao-Heng Yin, Haozhi Qi, Pieter Abbeel, and Jitendra Malik · 2024
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Dextrah-g: Pixels-to-action dexterous arm-hand grasping with geometric fabrics
Tyler Ga Wei Lum, Martin Matak, Viktor Makoviychuk, Ankur Handa, Arthur Allshire, Tucker Hermans, Nathan D Ratliff, and Karl Van Wyk · 2024
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Bimanual dexterity for complex tasks
Kenneth Shaw, Yulong Li, Jiahui Yang, Mohan Kumar Srirama, Ray Liu, Haoyu Xiong, Russell Mendonca, and Deepak Pathak · 2024
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Octo: An open-source generalist robot policy
Octo Model Team, Dibya Ghosh, Homer Walke, Karl Pertsch, Kevin Black, Oier Mees, Sudeep Dasari, Joey Hejna, Tobias Kreiman, Charles Xu, et al · 2024
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Anyrotate: Gravity-invariant in-hand object rotation with sim-to-real touch
Max Yang, Chenghua Lu, Alex Church, Yijiong Lin, Chris Ford, Haoran Li, Efi Psomopoulou, David AW Barton, and Nathan F Lepora · 2024
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Offline imitation learning through graph search and retrieval
Zhao-Heng Yin and Pieter Abbeel · 2024
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Aloha unleashed: A simple recipe for robot dexterity
Tony Z Zhao, Jonathan Tompson, Danny Driess, Pete Florence, Kamyar Ghasemipour, Chelsea Finn, and Ayzaan Wahid · 2024
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Learning visuotactile skills with two multifingered hands
Toru Lin, Yu Zhang, Qiyang Li, Haozhi Qi, Brent Yi, Sergey Levine, and Jitendra Malik · 2025
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