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Articulated object manipulation is a critical capability for robots to perform various tasks in real-world scenarios.
Shapenet: An information-rich 3d model repository
Angel X. Chang, Thomas A. Funkhouser, Leonidas J. Guibas, Pat Hanrahan, Qi-Xing Huang, Zimo Li, Silvio Savarese, Manolis Savva, Shuran Song, Hao Su, Jianxiong Xiao, L. Yi, and Fisher Yu · 2015
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Learning structured output representation using deep conditional generative models
Kihyuk Sohn, Honglak Lee, and Xinchen Yan · 2015
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Pointnet++: Deep hierarchical feature learning on point sets in a metric space
Charles Ruizhongtai Qi, Li Yi, Hao Su, and Leonidas J Guibas · 2017
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PartNet: A large-scale benchmark for fine-grained and hierarchical part-level 3D object understanding
Kaichun Mo, Shilin Zhu, Angel X. Chang, Li Yi, Subarna Tripathi, Leonidas J. Guibas, and Hao Su · 2019
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Doorgym: A scalable door opening environment and baseline agent
Yusuke Urakami, Alec Hodgkinson, Casey Carlin, Randall Leu, Luca Rigazio, and Pieter Abbeel · 2019
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Denoising diffusion probabilistic models
Jonathan Ho, Ajay Jain, and Pieter Abbeel · 2020
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Sapien: A simulated part-based interactive environment
Fanbo Xiang, Yuzhe Qin, Kaichun Mo, Yikuan Xia, Hao Zhu, Fangchen Liu, Minghua Liu, Hanxiao Jiang, Yifu Yuan, He Wang, et al · 2020
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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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Where2act: From pixels to actions for articulated 3d objects
Kaichun Mo, Leonidas J. Guibas, Mustafa Mukadam, Abhinav Gupta, and Shubham Tulsiani · 2021
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Maniskill: Generalizable manipulation skill benchmark with large-scale demonstrations
Tongzhou Mu, Zhan Ling, Fanbo Xiang, Derek Cathera Yang, Xuanlin Li, Stone Tao, Zhiao Huang, Zhiwei Jia, and Hao Su · 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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Akb-48: A real-world articulated object knowledge base
Liu Liu, Wenqiang Xu, Haoyuan Fu, Sucheng Qian, Qiaojun Yu, Yang Han, and Cewu Lu · 2022
Cited alongside, same era.
Adaafford: Learning to adapt manipulation affordance for 3d articulated objects via few-shot interactions
Yian Wang, Ruihai Wu, Kaichun Mo, Jiaqi Ke, Qingnan Fan, Leonidas Guibas, and Hao Dong · 2022
Cited alongside, same era.
Self-supervised neural articulated shape and appearance models
Fangyin Wei, Rohan Chabra, Lingni Ma, Christoph Lassner, Michael Zollhöfer, Szymon Rusinkiewicz, Chris Sweeney, Richard Newcombe, and Mira Slavcheva · 2022
Cited alongside, same era.
VAT-mart: Learning visual action trajectory proposals for manipulating 3d ARTiculated objects
Ruihai Wu, Yan Zhao, Kaichun Mo, Zizheng Guo, Yian Wang, Tianhao Wu, Qingnan Fan, Xuelin Chen, Leonidas Guibas, and Hao Dong · 2022
Cited alongside, same era.
Umpnet: Universal manipulation policy network for articulated objects
Zhenjia Xu, He Zhanpeng, and Shuran Song · 2022
Cited alongside, same era.
Where2explore: Few-shot affordance learning for unseen novel categories of articulated objects
Chuanruo Ning, Ruihai Wu, Haoran Lu, Kaichun Mo, and Hao Dong · 2023
Later among the works it cites.
Flowbot++: Learning generalized articulated objects manipulation via articulation projection
Harry Zhang, Ben Eisner, and David Held · 2023
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Learning fine-grained bimanual manipulation with low-cost hardware
Tony Z Zhao, Vikash Kumar, Sergey Levine, and Chelsea Finn · 2023
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3d diffuser actor: Policy diffusion with 3d scene representations
Tsung-Wei Ke, Nikolaos Gkanatsios, and Katerina Fragkiadaki · 2024
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Nap: Neural 3d articulated object prior
Jiahui Lei, Congyue Deng, William B Shen, Leonidas J Guibas, and Kostas Daniilidis · 2024
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Yan Zhao, Ruihai Wu, Zhehuan Chen, Yourong Zhang, Qingnan Fan, Kaichun Mo, and Hao Dong · 2022
Cited alongside, same era.
Diffusion policy: Visuomotor policy learning via action diffusion
Cheng Chi, Siyuan Feng, Yilun Du, Zhenjia Xu, Eric A. Cousineau, Benjamin Burchfiel, and Shuran Song · 2023
Cited alongside, same era.
Learning part motion of articulated objects using spatially continuous neural implicit representations
Yushi Du, Ruihai Wu, Yan Shen, and Hao Dong · 2023
Cited alongside, same era.
Arnold: A benchmark for language-grounded task learning with continuous states in realistic 3d scenes
Ran Gong, Jiangyong Huang, Yizhou Zhao, Haoran Geng, Xiaofeng Gao, Qingyang Wu, Wensi Ai, Ziheng Zhou, Demetri Terzopoulos, Song-Chun Zhu, et al · 2023
Cited alongside, same era.
Maniskill2: A unified benchmark for generalizable manipulation skills
Jiayuan Gu, Fanbo Xiang, Xuanlin Li, Zhan Ling, Xiqiang Liu, Tongzhou Mu, Yihe Tang, Stone Tao, Xinyue Wei, Yunchao Yao, et al · 2023
Cited alongside, same era.
Carto: Category and joint agnostic reconstruction of articulated objects
Nick Heppert, Muhammad Zubair Irshad, Sergey Zakharov, Katherine Liu, Rares Andrei Ambrus, Jeannette Bohg, Abhinav Valada, and Thomas Kollar · 2023
Cited alongside, same era.
Partmanip: Learning cross-category generalizable part manipulation policy from point cloud observations
Haoran Geng, Ziming Li, Yiran Geng, Jiayi Chen, Hao Dong, and He Wang
Cited in the paper.
Later among the works it cites.
Mobileafford: Mobile robotic manipulation through differentiable affordance learning
Yu Li, Kai Cheng, Ruihai Wu, Yan Shen, Kaichen Zhou, and Hao Dong · 2024
Later among the works it cites.
Articulated object manipulation with coarse-to-fine affordance for mitigating the effect of point cloud noise
Suhan Ling, Yian Wang, Shiguang Wu, Yuzheng Zhuang, Tianyi Xu, Yu Li, Chang Liu, and Hao Dong · 2024
Later among the works it cites.
Naturalvlm: Leveraging fine-grained natural language for affordance-guided visual manipulation
Ran Xu, Yan Shen, Xiaoqi Li, Ruihai Wu, and Hao Dong · 2024
Later among the works it cites.
Dnact: Diffusion guided multi-task 3d policy learning
Ge Yan, Yueh-Hua Wu, and Xiaolong Wang · 2024
Later among the works it cites.
Yanjie Ze, Gu Zhang, Kangning Zhang, Chenyuan Hu, Muhan Wang, and Huazhe Xu · 2024
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Et-seed: Efficient trajectory-level se(3) equivariant diffusion policy
Chenrui Tie, Yue Chen, Ruihai Wu, Boxuan Dong, Zeyi Li, Chongkai Gao, and Hao Dong · 2025
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