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Real-world household tasks present significant challenges for mobile manipulation robots.
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Surgical robotics: Reviewing the past, analysing the present, imagining the future
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C. Stanton, A. Bogdanovych, and E. Ratanasena · 2012
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A. Dietrich, T. Wimbock, A. Albu-Schaffer, and G. Hirzinger · 2012
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T. Kruse, A. K. Pandey, R. Alami, and A. Kirsch · 2013
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A user study on kinesthetic teaching of redundant robots in task and configuration space
S. Wrede, C. Emmerich, R. Grünberg, A. Nordmann, A. Swadzba, and J. Steil · 2013
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F. Burget, A. Hornung, and M. Bennewitz · 2013
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L. P. Kaelbling and T. Lozano-Pérez · 2013
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Human Dimension and Interior Space: A Source Book of Design Reference Standards
J. Panero and M. Zelnik · 2014
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Overview of the torque-controlled humanoid robot toro
J. Englsberger, A. Werner, C. Ott, B. Henze, M. A. Roa, G. Garofalo, R. Burger, A. Beyer, O. Eiberger, K. Schmid, and A. Albu-Schäffer · 2014
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Whole-body motion planning with centroidal dynamics and full kinematics
H. Dai, A. Valenzuela, and R. Tedrake · 2014
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Human-supervised control of the atlas humanoid robot for traversing doors
N. Banerjee, X. Long, R. Du, F. Polido, S. Feng, C. G. Atkeson, M. Gennert, and T. Padir · 2015
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Bilateral teleoperation with delayed force feedback using time domain passivity controller
H. Li and K. Kawashima · 2015
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U-net: Convolutional networks for biomedical image segmentation
O. Ronneberger, P. Fischer, and T. Brox · 2015
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Robot, organize my shelves! tidying up objects by predicting user preferences
N. Abdo, C. Stachniss, L. Spinello, and W. Burgard · 2015
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Deep unsupervised learning using nonequilibrium thermodynamics
J. Sohl-Dickstein, E. Weiss, N. Maheswaranathan, and S. Ganguli · 2015
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Yale openhand project: Optimizing open-source hand designs for ease of fabrication and adoption
R. Ma and A. Dollar · 2016
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Deep residual learning for image recognition
K. He, X. Zhang, S. Ren, and J. Sun · 2016
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Team wpi-cmu: Achieving reliable humanoid behavior in the darpa robotics challenge
M. DeDonato, F. Polido, K. Knoedler, B. P. W. Babu, N. Banerjee, C. P. Bove, X. Cui, R. Du, P. Franklin, J. P. Graff, P. He, A. Jaeger, L. Li, D. Berenson, M. A. Gennert, S. Feng, C. Liu, X. Xinjilefu, J. Kim, C. G. Atkeson, X. Long, and T. Padır · 2017
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A. Vaswani, N. M. Shazeer, N. Parmar, J. Uszkoreit, L. Jones, A. N. Gomez, L. Kaiser, and I. Polosukhin · 2017
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Pointnet: Deep learning on point sets for 3d classification and segmentation
C. Qi, H. Su, K. Mo, and L. Guibas · 2017
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Ai2-thor: An interactive 3d environment for visual ai
E. Kolve, R. Mottaghi, W. Han, E. VanderBilt, L. Weihs, A. Herrasti, M. Deitke, K. Ehsani, D. Gordon, Y. Zhu, A. Kembhavi, A. Gupta, and A. Farhadi · 2017
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Walk-man: A high-performance humanoid platform for realistic environments
N. G. Tsagarakis, D. G. Caldwell, F. Negrello, W. Choi, L. Baccelliere, V. Loc, J. Noorden, L. Muratore, A. Margan, A. Cardellino, L. Natale, E. Mingo Hoffman, H. Dallali, N. Kashiri, J. Malzahn, J. Lee, P. Kryczka, D. Kanoulas, M. Garabini, M. Catalano, M. Ferrati, V. Varricchio, L. Pallottino, C. Pavan, A. Bicchi, A. Settimi, A. Rocchi, and A. Ajoudani · 2017
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Pointnet++: Deep hierarchical feature learning on point sets in a metric space
C. R. Qi, L. Yi, H. Su, and L. J. Guibas · 2017
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Decoupled weight decay regularization
I. Loshchilov and F. Hutter · 2017
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Task-oriented hand motion retargeting for dexterous manipulation imitation
D. Antotsiou, G. Garcia-Hernando, and T.-K. Kim · 2018
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Virtualhome: Simulating household activities via programs
X. Puig, K. Ra, M. Boben, J. Li, T. Wang, S. Fidler, and A. Torralba · 2018
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Research and development in agricultural robotics: A perspective of digital farming
R. Shamshiri, C. Weltzien, I. Hameed, I. Yule, T. Grift, S. Balasundram, L. Pitonakova, D. Ahmad, and G. Chowdhary · 2018
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Reinforcement Learning: An Introduction
R. S. Sutton and A. G. Barto · 2018
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Human-centered artificial intelligence and machine learning
M. O. Riedl · 2019
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Toward human-centered ai: a perspective from human-computer interaction
W. Xu · 2019
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Trends and challenges in robot manipulation
A. Billard and D. Kragic · 2019
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Vision-based teleoperation of shadow dexterous hand using end-to-end deep neural network
S. Li, X. Ma, H. Liang, M. Görner, P. Ruppel, B. Fang, F. Sun, and J. Zhang · 2019
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The current state and future outlook of rescue robotics
J. Delmerico, S. Mintchev, A. Giusti, B. Gromov, K. Melo, T. Horvat, C. Cadena, M. Hutter, A. Ijspeert, D. Floreano, L. M. Gambardella, R. Siegwart, and D. Scaramuzza · 2019
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Bridging the gap between ethics and practice: Guidelines for reliable, safe, and trustworthy human-centered ai systems
B. Shneiderman · 2020
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Rearrangement: A challenge for embodied ai
D. Batra, A. X. Chang, S. Chernova, A. J. Davison, J. Deng, V. Koltun, S. Levine, J. Malik, I. Mordatch, R. Mottaghi, M. Savva, and H. Su · 2020
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Recent advances in robot learning from demonstration
H. Ravichandar, A. S. Polydoros, S. Chernova, and A. Billard · 2020
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In-hand object pose tracking via contact feedback and gpu-accelerated robotic simulation
J. Liang, A. Handa, K. V. Wyk, V. Makoviychuk, O. Kroemer, and D. Fox · 2020
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Dexpilot: Vision-based teleoperation of dexterous robotic hand-arm system
A. Handa, K. Van Wyk, W. Yang, J. Liang, Y.-W. Chao, Q. Wan, S. Birchfield, N. Ratliff, and D. Fox · 2020
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Denoising diffusion probabilistic models
J. Ho, A. Jain, and P. Abbeel · 2020
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A mobile manipulation system for one-shot teaching of complex tasks in homes
M. Bajracharya, J. Borders, D. Helmick, T. Kollar, M. Laskey, J. Leichty, J. Ma, U. Nagarajan, A. Ochiai, J. Petersen, K. Shankar, K. Stone, and Y. Takaoka · 2020
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Bilateral humanoid teleoperation system using whole-body exoskeleton cockpit tablis
Y. Ishiguro, T. Makabe, Y. Nagamatsu, Y. Kojio, K. Kojima, F. Sugai, Y. Kakiuchi, K. Okada, and M. Inaba · 2020
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Grasping in the wild: Learning 6dof closed-loop grasping from low-cost demonstrations
S. Song, A. Zeng, J. Lee, and T. Funkhouser · 2020
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Glu variants improve transformer
N. Shazeer · 2020
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Denoising diffusion implicit models
J. Song, C. Meng, and S. Ermon · 2020
Cited alongside, same era.
BEHAVIOR: benchmark for everyday household activities in virtual, interactive, and ecological environments
S. Srivastava, C. Li, M. Lingelbach, R. Martín-Martín, F. Xia, K. E. Vainio, Z. Lian, C. Gokmen, S. Buch, C. K. Liu, S. Savarese, H. Gweon, J. Wu, and L. Fei-Fei · 2021
Cited alongside, same era.
Habitat 2.0: Training home assistants to rearrange their habitat
A. Szot, A. Clegg, E. Undersander, E. Wijmans, Y. Zhao, J. Turner, N. Maestre, M. Mukadam, D. S. Chaplot, O. Maksymets, A. Gokaslan, V. Vondruš, S. Dharur, F. Meier, W. Galuba, A. Chang, Z. Kira, V. Koltun, J. Malik, M. Savva, and D. Batra · 2021
Cited alongside, same era.
Human to robot whole-body motion transfer
M. Arduengo, A. Arduengo, A. Colomé, J. Lobo-Prat, and C. Torras · 2021
Cited alongside, same era.
Controlling ocean one: Human–robot collaboration for deep-sea manipulation
Bimanual dexterity for complex tasks
K. Shaw, Y. Li, J. Yang, M. K. Srirama, R. Liu, H. Xiong, R. Mendonca, and D. Pathak · 2024
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Telemoma: A modular and versatile teleoperation system for mobile manipulation
S. Dass, W. Ai, Y. Jiang, S. Singh, J. Hu, R. Zhang, P. Stone, B. Abbatematteo, and R. Martín-Martín · 2024
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Open-television: Teleoperation with immersive active visual feedback
X. Cheng, J. Li, S. Yang, G. Yang, and X. Wang · 2024
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Gello: A general, low-cost, and intuitive teleoperation framework for robot manipulators
P. Wu, Y. Shentu, Z. Yi, X. Lin, and P. Abbeel · 2024
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Learning visuotactile skills with two multifingered hands
T. Lin, Y. Zhang, Q. Li, H. Qi, B. Yi, S. Levine, and J. Malik · 2024
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Harmon: Whole-body motion generation of humanoid robots from language descriptions
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G. Brantner and O. Khatib · 2021
Cited alongside, same era.
What matters in learning from offline human demonstrations for robot manipulation
A. Mandlekar, D. Xu, J. Wong, S. Nasiriany, C. Wang, R. Kulkarni, L. Fei-Fei, S. Savarese, Y. Zhu, and R. Mart’in-Mart’in · 2021
Cited alongside, same era.
Manipulathor: A framework for visual object manipulation
K. Ehsani, W. Han, A. Herrasti, E. VanderBilt, L. Weihs, E. Kolve, A. Kembhavi, and R. Mottaghi · 2021
Cited alongside, same era.
Visual room rearrangement
L. Weihs, M. Deitke, A. Kembhavi, and R. Mottaghi · 2021
Cited alongside, same era.
igibson 2.0: Object-centric simulation for robot learning of everyday household tasks
C. Li, F. Xia, R. Mart’in-Mart’in, M. Lingelbach, S. Srivastava, B. Shen, K. Vainio, C. Gokmen, G. Dharan, T. Jain, A. Kurenkov, K. Liu, H. Gweon, J. Wu, L. Fei-Fei, and S. Savarese · 2021
Cited alongside, same era.
Lola v1.1 – an upgrade in hardware and software design for dynamic multi-contact locomotion
P. Seiwald, S.-C. Wu, F. Sygulla, T. F. C. Berninger, N.-S. Staufenberg, M. F. Sattler, N. Neuburger, D. Rixen, and F. Tombari · 2021
Cited alongside, same era.
Visual imitation made easy
S. Young, D. Gandhi, S. Tulsiani, A. Gupta, P. Abbeel, and L. Pinto · 2021
Cited alongside, same era.
Z. Jiang, Y. Xie, J. Li, Y. Yuan, Y. Zhu, and Y. Zhu · 2024
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Spin: Simultaneous perception, interaction and navigation
S. Uppal, A. Agarwal, H. Xiong, K. Shaw, and D. Pathak · 2024
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Adaptive mobile manipulation for articulated objects in the open world
H. Xiong, R. Mendonca, K. Shaw, and D. Pathak · 2024
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Versatile demonstration interface: Toward more flexible robot demonstration collection
M. Hagenow, D. Kontogiorgos, Y. Wang, and J. Shah · 2024
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One-step diffusion policy: Fast visuomotor policies via diffusion distillation
Z. Wang, Z. Li, A. Mandlekar, Z. Xu, J. Fan, Y. Narang, L. Fan, Y. Zhu, Y. Balaji, M. Zhou, M.-Y. Liu, and Y. Zeng · 2024
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3d diffusion policy: Generalizable visuomotor policy learning via simple 3d representations
Y. Ze, G. Zhang, K. Zhang, C. Hu, M. Wang, and H. Xu · 2024
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Using apple vision pro to train and control robots, 2024
Y. Park and P. Agrawal · 2024
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Airexo: Low-cost exoskeletons for learning whole-arm manipulation in the wild
H. Fang, H. Fang, Y. Wang, J. Ren, J. Chen, R. Zhang, W. Wang, and C. Lu · 2024
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Arcap: Collecting high-quality human demonstrations for robot learning with augmented reality feedback
S. Chen, C. Wang, K. Nguyen, L. Fei-Fei, and C. K. Liu · 2024
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Harmonic mobile manipulation
R. Yang, Y. Kim, A. Kembhavi, X. Wang, and K. Ehsani · 2024
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Transic: Sim-to-real policy transfer by learning from online correction
Y. Jiang, C. Wang, R. Zhang, J. Wu, and L. Fei-Fei · 2024
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Equibot: Sim(3)-equivariant diffusion policy for generalizable and data efficient learning
J. Yang, Z. ang Cao, C. Deng, R. Antonova, S. Song, and J. Bohg · 2024
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Automated creation of digital cousins for robust policy learning
T. Dai, J. Wong, Y. Jiang, C. Wang, C. Gokmen, R. Zhang, J. Wu, and L. Fei-Fei · 2024
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π 0 \pi_{0} : A vision-language-action flow model for general robot control
K. Black, N. Brown, D. Driess, A. Esmail, M. Equi, C. Finn, N. Fusai, L. Groom, K. Hausman, B. Ichter, S. Jakubczak, T. Jones, L. Ke, S. Levine, A. Li-Bell, M. Mothukuri, S. Nair, K. Pertsch, L. X. Shi, J. Tanner, Q. Vuong, A. Walling, H. Wang, and U. Zhilinsky · 2024
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Kinscene: Model-based mobile manipulation of articulated scenes
C.-C. Hsu, B. Abbatematteo, Z. Jiang, Y. Zhu, R. Martín-Martín, and J. Biswas · 2024
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LEAP hand v2: Dexterous, low-cost anthropomorphic hybrid rigid soft hand for robot learning
K. Shaw and D. Pathak · 2024
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Berkeley humanoid: A research platform for learning-based control
Q. Liao, B. Zhang, X. Huang, X. Huang, Z. Li, and K. Sreenath · 2024
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Tilde: Teleoperation for dexterous in-hand manipulation learning with a deltahand
Z. Si, K. Zhang, F. Z. Temel, and O. Kroemer · 2024
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OPEN TEACH: A versatile teleoperation system for robotic manipulation
A. Iyer, Z. Peng, Y. Dai, I. Guzey, S. Haldar, S. Chintala, and L. Pinto · 2024
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Universal manipulation interface: In-the-wild robot teaching without in-the-wild robots
C. Chi, Z. Xu, C. Pan, E. A. Cousineau, B. Burchfiel, S. Feng, R. Tedrake, and S. Song · 2024
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Dexcap: Scalable and portable mocap data collection system for dexterous manipulation
C. Wang, H. Shi, W. Wang, R. Zhang, F.-F. Li, and K. Liu · 2024
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Legato: Cross-embodiment imitation using a grasping tool
M. Seo, H. A. Park, S. Yuan, Y. Zhu, and L. Sentis · 2024
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Generative image as action models
M. Shridhar, Y. L. Lo, and S. James · 2024
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Bumble: Unifying reasoning and acting with vision-language models for building-wide mobile manipulation
R. Shah, A. Yu, Y. Zhu, Y. Zhu*, and R. Martín-Martín* · 2024
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Visual whole-body control for legged loco-manipulation
M. Liu, Z. Chen, X. Cheng, Y. Ji, R.-Z. Qiu, R. Yang, and X. Wang · 2024
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Umi on legs: Making manipulation policies mobile with manipulation-centric whole-body controllers
H. Ha, Y. Gao, Z. Fu, J. Tan, and S. Song · 2024
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Roboduet: Whole-body legged loco-manipulation with cross-embodiment deployment
G. Pan, Q. Ben, Z. Yuan, G. Jiang, Y. Ji, S. Li, J. Pang, H. Liu, and H. Xu · 2024
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Pedipulate: Enabling manipulation skills using a quadruped robot’s leg
P. Arm, M. Mittal, H. Kolvenbach, and M. Hutter · 2024
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Visual manipulation with legs
X. He, C. Yuan, W. Zhou, R. Yang, D. Held, and X. Wang · 2024
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Wococo: Learning whole-body humanoid control with sequential contacts
C. Zhang, W. Xiao, T. He, and G. Shi · 2024
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Humanplus: Humanoid shadowing and imitation from humans
Z. Fu, Q. Zhao, Q. Wu, G. Wetzstein, and C. Finn · 2024
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OKAMI: Teaching humanoid robots manipulation skills through single video imitation
J. Li, Y. Zhu, Y. Xie, Z. Jiang, M. Seo, G. Pavlakos, and Y. Zhu · 2024
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Generalizable humanoid manipulation with improved 3d diffusion policies
Y. Ze, Z. Chen, W. Wang, T. Chen, X. He, Y. Yuan, X. B. Peng, and J. Wu · 2024
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Omnih2o: Universal and dexterous human-to-humanoid whole-body teleoperation and learning
T. He, Z. Luo, X. He, W. Xiao, C. Zhang, W. Zhang, K. M. Kitani, C. Liu, and G. Shi · 2024
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Helpful doggybot: Open-world object fetching using legged robots and vision-language models
Q. Wu, Z. Fu, X. Cheng, X. Wang, and C. Finn · 2024
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Learning compositional behaviors from demonstration and language
W. Liu, N. Nie, R. Zhang, J. Mao, and J. Wu · 2024
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Octo: An open-source generalist robot policy
O. M. Team, D. Ghosh, H. Walke, K. Pertsch, K. Black, O. Mees, S. Dasari, J. Hejna, T. Kreiman, C. Xu, J. Luo, Y. L. Tan, P. R. Sanketi, Q. Vuong, T. Xiao, D. Sadigh, C. Finn, and S. Levine · 2024
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Pushing the limits of cross-embodiment learning for manipulation and navigation
J. Yang, C. Glossop, A. Bhorkar, D. Shah, Q. Vuong, C. Finn, D. Sadigh, and S. Levine · 2024
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Scaling cross-embodied learning: One policy for manipulation, navigation, locomotion and aviation
R. Doshi, H. R. Walke, O. Mees, S. Dasari, and S. Levine · 2024
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OpenVLA: An open-source vision-language-action model
M. J. Kim, K. Pertsch, S. Karamcheti, T. Xiao, A. Balakrishna, S. Nair, R. Rafailov, E. P. Foster, P. R. Sanketi, Q. Vuong, T. Kollar, B. Burchfiel, R. Tedrake, D. Sadigh, S. Levine, P. Liang, and C. Finn · 2024
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Mobility VLA: Multimodal instruction navigation with long-context VLMs and topological graphs
Z. Xu, H.-T. L. Chiang, Z. Fu, M. G. Jacob, T. Zhang, T.-W. E. Lee, W. Yu, C. Schenck, D. Rendleman, D. Shah, F. Xia, J. Hsu, J. Hoech, P. Florence, S. Kirmani, S. Singh, V. Sindhwani, C. Parada, C. Finn, P. Xu, S. Levine, and J. Tan · 2024
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Skillmimicgen: Automated demonstration generation for efficient skill learning and deployment
C. R. Garrett, A. Mandlekar, B. Wen, and D. Fox · 2024
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Egomimic: Scaling imitation learning via egocentric video
S. Kareer, D. Patel, R. Punamiya, P. Mathur, S. Cheng, C. Wang, J. Hoffman, and D. Xu · 2024
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R+x: Retrieval and execution from everyday human videos
G. Papagiannis, N. D. Palo, P. Vitiello, and E. Johns · 2024
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Robocopilot: Human-in-the-loop interactive imitation learning for robot manipulation
P. Wu, Y. Shentu, Q. Liao, D. Jin, M. Guo, K. Sreenath, X. Lin, and P. Abbeel · 2025
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Gr00t n1: An open foundation model for generalist humanoid robots
NVIDIA, J. Bjorck, F. Castañeda, N. Cherniadev, X. Da, R. Ding, L. J. Fan, Y. Fang, D. Fox, F. Hu, S. Huang, J. Jang, Z. Jiang, J. Kautz, K. Kundalia, L. Lao, Z. Li, Z. Lin, K. Lin, G. Liu, E. Llontop, L. Magne, A. Mandlekar, A. Narayan, S. Nasiriany, S. Reed, Y. L. Tan, G. Wang, Z. Wang, J. Wang, Q. Wang, J. Xiang, Y. Xie, Y. Xu, Z. Xu, S. Ye, Z. Yu, A. Zhang, H. Zhang, Y. Zhao, R. Zheng, and Y. Zhu · 2025
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Factr: Force-attending curriculum training for contact-rich policy learning
J. J. Liu, Y. Li, K. Shaw, T. Tao, R. Salakhutdinov, and D. Pathak · 2025
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Toddlerbot: Open-source ml-compatible humanoid platform for loco-manipulation
H. Shi, W. Wang, S. Song, and C. K. Liu · 2025
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Robopanoptes: The all-seeing robot with whole-body dexterity
X. Xu, D. Bauer, and S. Song · 2025
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Vision in action: Learning active perception from human demonstrations
H. Xiong, X. Xu, J. Wu, Y. Hou, J. Bohg, and S. Song · 2025
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Foundationstereo: Zero-shot stereo matching
B. Wen, M. Trepte, J. Aribido, J. Kautz, O. Gallo, and S. Birchfield · 2025
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Momagen: Generating demonstrations under soft and hard constraints for multi-step bimanual mobile manipulation
C. Li, M. Xu, A. Bahety, H. Yin, Y. Jiang, H. Huang, J. Wong, S. Garlanka, C. Gokmen, R. Zhang, W. Liu, J. Wu, R. Martín-Martín, and L. Fei-Fei · 2025
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