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We address the challenge of developing a generalizable neural tracking controller for dexterous manipulation from human references.
Contact-invariant optimization for hand manipulation
Igor Mordatch, Zoran Popović, and Emanuel Todorov · 2012
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Learning dexterous manipulation for a soft robotic hand from human demonstrations
Abhishek Gupta, Clemens Eppner, Sergey Levine, and Pieter Abbeel · 2016
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Deep q-learning from demonstrations
Todd Hester, Matej Vecerík, Olivier Pietquin, Marc Lanctot, Tom Schaul, Bilal Piot, Dan Horgan, John Quan, Andrew Sendonaris, Ian Osband, Gabriel Dulac-Arnold, John P. Agapiou, Joel Z. Leibo, and Audrunas Gruslys · 2017
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Dart: Noise injection for robust imitation learning
Michael Laskey, Jonathan Lee, Roy Fox, Anca Dragan, and Ken Goldberg · 2017
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Learning complex dexterous manipulation with deep reinforcement learning and demonstrations
Aravind Rajeswaran, Vikash Kumar, Abhishek Gupta, Giulia Vezzani, John Schulman, Emanuel Todorov, and Sergey Levine · 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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Per-contact iteration method for solving contact dynamics
Jemin Hwangbo, Joonho Lee, and Marco Hutter · 2018
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Truncated horizon policy search: Combining reinforcement learning & imitation learning
Wen Sun, J. Andrew Bagnell, and Byron Boots · 2018
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Solving rubik’s cube with a robot hand
Ilge Akkaya, Marcin Andrychowicz, Maciek Chociej, Mateusz Litwin, Bob McGrew, Arthur Petron, Alex Paino, Matthias Plappert, Glenn Powell, Raphael Ribas, et al · 2019
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Language models are few-shot learners
Tom B. Brown, Benjamin Mann, Nick Ryder, Melanie Subbiah, Jared Kaplan, Prafulla Dhariwal, Arvind Neelakantan, Pranav Shyam, Girish Sastry, Amanda Askell, Sandhini Agarwal, Ariel Herbert-Voss, Gretchen Krueger, Tom Henighan, Rewon Child, Aditya Ramesh, Daniel M. Ziegler, Jeff Wu, Clemens Winter, Christopher Hesse, Mark Chen, Eric Sigler, Ma teusz Litwin, Scott Gray, Benjamin Chess, Jack Clark, Christopher Berner, Sam McCandlish, Alec Radford, Ilya Sutskever, and Dario Amodei · 2020
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Grab: A dataset of whole-body human grasping of objects
Omid Taheri, Nima Ghorbani, Michael J Black, and Dimitrios Tzionas · 2020
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A system for general in-hand object re-orientation
Tao Chen, Jie Xu, and Pulkit Agrawal · 2021
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rl-games: A high-performance framework for reinforcement learning
Denys Makoviichuk and Viktor Makoviychuk · 2021
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Isaac gym: High performance gpu-based physics simulation for robot learning
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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A convex quasistatic time-stepping scheme for rigid multibody systems with contact and friction
Tao Pang and Russ Tedrake · 2021
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D-grasp: Physically plausible dynamic grasp synthesis for hand-object interactions
Sammy Christen, Muhammed Kocabas, Emre Aksan, Jemin Hwangbo, Jie Song, and Otmar Hilliges · 2022
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Herd: Continuous human-to-robot evolution for learning from human demonstration
Xingyu Liu, Deepak Pathak, and Kris M Kitani · 2022
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Dexmv: Imitation learning for dexterous manipulation from human videos
Yuzhe Qin, Yueh-Hua Wu, Shaowei Liu, Hanwen Jiang, Ruihan Yang, Yang Fu, and Xiaolong Wang · 2022
Physhoi: Physics-based imitation of dynamic human-object interaction
Yinhuai Wang, Jing Lin, Ailing Zeng, Zhengyi Luo, Jian Zhang, and Lei Zhang · 2023
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Foundationpose: Unified 6d pose estimation and tracking of novel objects
Bowen Wen, Wei Yang, Jan Kautz, and Stanley T. Birchfield · 2023
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Learning generalizable dexterous manipulation from human grasp affordance
Yueh-Hua Wu, Jiashun Wang, and Xiaolong Wang · 2023
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Yinzhen Xu, Weikang Wan, Jialiang Zhang, Haoran Liu, Zikang Shan, Hao Shen, Ruicheng Wang, Haoran Geng, Yijia Weng, Jiayi Chen, et al · 2023
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Artigrasp: Physically plausible synthesis of bi-manual dexterous grasping and articulation
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Chain of thought prompting elicits reasoning in large language models
Jason Wei, Xuezhi Wang, Dale Schuurmans, Maarten Bosma, Ed Huai hsin Chi, F. Xia, Quoc Le, and Denny Zhou · 2022
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Jinze Bai, Shuai Bai, Yunfei Chu, Zeyu Cui, Kai Dang, Xiaodong Deng, Yang Fan, Wenhang Ge, Yu Han, Fei Huang, Binyuan Hui, Luo Ji, Mei Li, Junyang Lin, Runji Lin, Dayiheng Liu, Gao Liu, Chengqiang Lu, K. Lu, Jianxin Ma, Rui Men, Xingzhang Ren, Xuancheng Ren, Chuanqi Tan, Sinan Tan, Jianhong Tu, Peng Wang, Shijie Wang, Wei Wang, Shengguang Wu, Benfeng Xu, Jin Xu, An Yang, Hao Yang, Jian Yang, Jian Yang, Shusheng Yang, Yang Yao, Bowen Yu, Yu Bowen, Hongyi Yuan, Zheng Yuan, Jianwei Zhang, Xing Zhang, Yichang Zhang, Zhenru Zhang, Chang Zhou, Jingren Zhou, Xiaohuan Zhou, and Tianhang Zhu · 2023
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Visual dexterity: In-hand reorientation of novel and complex object shapes
Tao Chen, Megha Tippur, Siyang Wu, Vikash Kumar, Edward Adelson, and Pulkit Agrawal · 2023
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Dtc: Deep tracking control
Fabian Jenelten, Junzhe He, Farbod Farshidian, and Marco Hutter · 2023
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Blending imitation and reinforcement learning for robust policy improvement
Xuefeng Liu, Takuma Yoneda, Rick L. Stevens, Matthew R. Walter, and Yuxin Chen · 2023
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Gpt-4 technical report
OpenAI · 2023
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Global planning for contact-rich manipulation via local smoothing of quasi-dynamic contact models
Tao Pang, HJ Terry Suh, Lujie Yang, and Russ Tedrake · 2023
Cited alongside, same era.
Hui Zhang, Sammy Christen, Zicong Fan, Luocheng Zheng, Jemin Hwangbo, Jie Song, and Otmar Hilliges · 2023
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Cimrl: Combining imitation and reinforcement learning for safe autonomous driving
Jonathan Booher, Khashayar Rohanimanesh, Junhong Xu, Vladislav Isenbaev, Ashwin Balakrishna, Ishan Gupta, Wei Liu, and Aleksandr Petiushko · 2024
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Vividex: Learning vision-based dexterous manipulation from human videos
Zerui Chen, Shizhe Chen, Cordelia Schmid, and Ivan Laptev · 2024
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Chatbot arena: An open platform for evaluating llms by human preference
Wei-Lin Chiang, Lianmin Zheng, Ying Sheng, Anastasios Nikolas Angelopoulos, Tianle Li, Dacheng Li, Hao Zhang, Banghua Zhu, Michael Jordan, Joseph E. Gonzalez, and Ion Stoica · 2024
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Complementarity-free multi-contact modeling and optimization for dexterous manipulation
Wanxin Jin · 2024
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Reinforcement learning for versatile, dynamic, and robust bipedal locomotion control
Zhongyu Li, Xue Bin Peng, Pieter Abbeel, Sergey Levine, Glen Berseth, and Koushil Sreenath · 2024
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Grasping diverse objects with simulated humanoids
Zhengyi Luo, Jinkun Cao, Sammy Joe Christen, Alexander Winkler, Kris Kitani, and Weipeng Xu · 2024
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Hand-object interaction pretraining from videos
Himanshu Gaurav Singh, Antonio Loquercio, Carmelo Sferrazza, Jane Wu, Haozhi Qi, Pieter Abbeel, and Jitendra Malik · 2024
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PyTorch Kinematics, February 2024
Sheng Zhong, Thomas Power, Ashwin Gupta, and Peter Mitrano · 2024
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