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Achieving human-level dexterity in robots is a key objective in the field of robotic manipulation.
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Igor Mordatch, Zoran Popović, and Emanuel Todorov · 2012
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Yunfei Bai and C Karen Liu · 2014
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Jonathan Ho, Ajay Jain, and Pieter Abbeel · 2020
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Limitations of autoregressive models and their alternatives
Chu-Cheng Lin, Aaron Jaech, Xin Li, Matthew R Gormley, and Jason Eisner · 2020
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Dgcm-net: dense geometrical correspondence matching network for incremental experience-based robotic grasping
Timothy Patten, Kiru Park, and Markus Vincze · 2020
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Denoising diffusion implicit models
Jiaming Song, Chenlin Meng, and Stefano Ermon · 2020
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Sim-to-real transfer in deep reinforcement learning for robotics: a survey
Wenshuai Zhao, Jorge Peña Queralta, and Tomi Westerlund · 2020
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Reset-free reinforcement learning via multi-task learning: Learning dexterous manipulation behaviors without human intervention
Abhishek Gupta, Justin Yu, Tony Z Zhao, Vikash Kumar, Aaron Rovinsky, Kelvin Xu, Thomas Devlin, and Sergey Levine · 2021
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Towards robust and domain agnostic reinforcement learning competitions: Minerl 2020
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Hand-object contact consistency reasoning for human grasps generation
Hanwen Jiang, Shaowei Liu, Jiashun Wang, and Xiaolong Wang · 2021
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The functional correspondence problem
Zihang Lai, Senthil Purushwalkam, and Abhinav Gupta · 2021
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What matters in learning from offline human demonstrations for robot manipulation
Ajay Mandlekar, Danfei Xu, Josiah Wong, Soroush Nasiriany, Chen Wang, Rohun Kulkarni, Li Fei-Fei, Silvio Savarese, Yuke Zhu, and Roberto Martín-Martín · 2021
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Dexmv: Imitation learning for dexterous manipulation from human videos, 2021
Yuzhe Qin, Yueh-Hua Wu, Shaowei Liu, Hanwen Jiang, Ruihan Yang, Yang Fu, and Xiaolong Wang · 2021
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Flowbot3d: Learning 3d articulation flow to manipulate articulated objects
Ben Eisner, Harry Zhang, and David Held · 2022
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Surfemb: Dense and continuous correspondence distributions for object pose estimation with learnt surface embeddings
Rasmus Laurvig Haugaard and Anders Glent Buch · 2022
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Pointnext: Revisiting pointnet++ with improved training and scaling strategies
Guocheng Qian, Yuchen Li, Houwen Peng, Jinjie Mai, Hasan Hammoud, Mohamed Elhoseiny, and Bernard Ghanem · 2022
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Dexgraspnet: A large-scale robotic dexterous grasp dataset for general objects based on simulation
Ruicheng Wang, Jialiang Zhang, Jiayi Chen, Yinzhen Xu, Puhao Li, Tengyu Liu, and He Wang · 2022
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All the feels: A dexterous hand with large-area tactile sensing
Raunaq Bhirangi, Abigail DeFranco, Jacob Adkins, Carmel Majidi, Abhinav Gupta, Tess Hellebrekers, and Vikash Kumar · 2023
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Sequential dexterity: Chaining dexterous policies for long-horizon manipulation
Yuanpei Chen, Chen Wang, Li Fei-Fei, and C Karen Liu · 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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Act3d: Infinite resolution action detection transformer for robotic manipulation
G3flow: Generative 3d semantic flow for pose-aware and generalizable object manipulation
Tianxing Chen, Yao Mu, Zhixuan Liang, Zanxin Chen, Shijia Peng, Qiangyu Chen, Mingkun Xu, Ruizhen Hu, Hongyuan Zhang, Xuelong Li, et al · 2024
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Preafford: Universal affordance-based pre-grasping for diverse objects and environments
Kairui Ding, Boyuan Chen, Ruihai Wu, Yuyang Li, Zongzheng Zhang, Huan-ang Gao, Siqi Li, Guyue Zhou, Yixin Zhu, Hao Dong, et al · 2024
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Scaling cross-embodied learning: One policy for manipulation, navigation, locomotion and aviation
Ria Doshi, Homer Walke, Oier Mees, Sudeep Dasari, and Sergey Levine · 2024
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Deep se (3)-equivariant geometric reasoning for precise placement tasks
Ben Eisner, Yi Yang, Todor Davchev, Mel Vecerik, Jonathan Scholz, and David Held · 2024
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Theophile Gervet, Zhou Xian, Nikolaos Gkanatsios, and Katerina Fragkiadaki · 2023
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Rvt: Robotic view transformer for 3d object manipulation
Ankit Goyal, Jie Xu, Yijie Guo, Valts Blukis, Yu-Wei Chao, and Dieter Fox · 2023
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Dexterity from touch: Self-supervised pre-training of tactile representations with robotic play
Irmak Guzey, Ben Evans, Soumith Chintala, and Lerrel Pinto · 2023
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Teach a robot to fish: Versatile imitation from one minute of demonstrations
Siddhant Haldar, Jyothish Pari, Anant Rai, and Lerrel Pinto · 2023
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Dextreme: Transfer of agile in-hand manipulation from simulation to reality
Ankur Handa, Arthur Allshire, Viktor Makoviychuk, Aleksei Petrenko, Ritvik Singh, Jingzhou Liu, Denys Makoviichuk, Karl Van Wyk, Alexander Zhurkevich, Balakumar Sundaralingam, et al · 2023
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Alexander Kirillov, Eric Mintun, Nikhila Ravi, Hanzi Mao, Chloe Rolland, Laura Gustafson, Tete Xiao, Spencer Whitehead, Alexander C. Berg, Wan-Yen Lo, Piotr Dollár, and Ross Girshick · 2023
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Imitating human behaviour with diffusion models
Tim Pearce, Tabish Rashid, Anssi Kanervisto, Dave Bignell, Mingfei Sun, Raluca Georgescu, Sergio Valcarcel Macua, Shan Zheng Tan, Ida Momennejad, Katja Hofmann, et al · 2023
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Dextrous tactile in-hand manipulation using a modular reinforcement learning architecture
Johannes Pitz, Lennart Röstel, Leon Sievers, and Berthold Bäuml · 2023
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See to touch: Learning tactile dexterity through visual incentives
Irmak Guzey, Yinlong Dai, Ben Evans, Soumith Chintala, and Lerrel Pinto · 2024
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Yueru Jia, Jiaming Liu, Sixiang Chen, Chenyang Gu, Zhilue Wang, Longzan Luo, Lily Lee, Pengwei Wang, Zhongyuan Wang, Renrui Zhang, and Shanghang Zhang · 2024
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Dexhanddiff: Interaction-aware diffusion planning for adaptive dexterous manipulation, 2024
Zhixuan Liang, Yao Mu, Yixiao Wang, Tianxing Chen, Wenqi Shao, Wei Zhan, Masayoshi Tomizuka, Ping Luo, and Mingyu Ding · 2024
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Manicm: Real-time 3d diffusion policy via consistency model for robotic manipulation
Guanxing Lu, Zifeng Gao, Tianxing Chen, Wenxun Dai, Ziwei Wang, and Yansong Tang · 2024
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Robotwin: Dual-arm robot benchmark with generative digital twins (early version)
Yao Mu, Tianxing Chen, Shijia Peng, Zanxin Chen, Zeyu Gao, Yude Zou, Lunkai Lin, Zhiqiang Xie, and Ping Luo · 2024
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Reconstructing hands in 3D with transformers
Georgios Pavlakos, Dandan Shan, Ilija Radosavovic, Angjoo Kanazawa, David Fouhey, and Jitendra Malik · 2024
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Motion before action: Diffusing object motion as manipulation condition
Yup Su, Xinyu Zhan, Hongjie Fang, Yong-Lu Li, Cewu Lu, and Lixin Yang · 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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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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Zhenyu Wei, Zhixuan Xu, Jingxiang Guo, Yiwen Hou, Chongkai Gao, Zhehao Cai, Jiayu Luo, and Lin Shao · 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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Cage: Causal attention enables data-efficient generalizable robotic manipulation
Shangning Xia, Hongjie Fang, Cewu Lu, and Hao-Shu Fang · 2024
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A survey of imitation learning: Algorithms, recent developments, and challenges
Maryam Zare, Parham M. Kebria, Abbas Khosravi, and Saeid Nahavandi · 2024
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3d diffusion policy: Generalizable visuomotor policy learning via simple 3d representations
Yanjie Ze, Gu Zhang, Kangning Zhang, Chenyuan Hu, Muhan Wang, and Huazhe Xu · 2024
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Yushan Liu, Shilong Mu, Xintao Chao, Zizhen Li, Yao Mu, Tianxing Chen, Shoujie Li, Chuqiao Lyu, Xiao-ping Zhang, and Wenbo Ding · 2025
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Robotwin: Dual-arm robot benchmark with generative digital twins, 2025
Yao Mu, Tianxing Chen, Zanxin Chen, Shijia Peng, Zhiqian Lan, Zeyu Gao, Zhixuan Liang, Qiaojun Yu, Yude Zou, Mingkun Xu, Lunkai Lin, Zhiqiang Xie, Mingyu Ding, and Ping Luo · 2025
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