Crossing the Human-Robot Embodiment Gap with Sim-to-Real RL using One Human Demonstration

Automatic symmetry determination and normalization for rotationally symmetric 2d shapes and 3d solid objects

S.-C. Pei and L.-G. Liou · 1994

Earlier work this paper cites.

The ingredients of real-world robotic reinforcement learning, 2020

Original

H. Zhu, J. Yu, A. Gupta, D. Shah, K. Hartikainen, A. Singh, V. Kumar, and S. Levine · 2004

Earlier work this paper cites.

Dexterous grasping via eigengrasps : A low-dimensional approach to a high-complexity problem

M. T. Ciocarlie, C. Goldfeder, and P. K. Allen · 2007

Earlier work this paper cites.

On dexterity and dexterous manipulation

R. R. Ma and A. M. Dollar · 2011

Earlier work this paper cites.

Embodied hands: Modeling and capturing hands and bodies together

J. Romero, D. Tzionas, and M. J. Black · 2017

Earlier work this paper cites.

Proximal policy optimization algorithms

Original

J. Schulman, F. Wolski, P. Dhariwal, A. Radford, and O. Klimov · 2017

Earlier work this paper cites.

Learning Complex Dexterous Manipulation with Deep Reinforcement Learning and Demonstrations

A. Rajeswaran, V. Kumar, A. Gupta, G. Vezzani, J. Schulman, E. Todorov, and S. Levine · 2018

Earlier work this paper cites.

Asymmetric actor critic for image-based robot learning

L. Pinto, M. Andrychowicz, P. Welinder, W. Zaremba, and P. Abbeel · 2018

Earlier work this paper cites.

Pybullet, a python module for physics simulation for games, robotics and machine learning

E. Coumans and Y. Bai · 2019

Earlier work this paper cites.

Dexmv: Imitation learning for dexterous manipulation from human videos, 2021

Y. Qin, Y.-H. Wu, S. Liu, H. Jiang, R. Yang, Y. Fu, and X. Wang · 2021

Earlier work this paper cites.

BC-z: Zero-shot task generalization with robotic imitation learning

E. Jang, A. Irpan, M. Khansari, D. Kappler, F. Ebert, C. Lynch, S. Levine, and C. Finn · 2021

Earlier work this paper cites.

Xirl: Cross-embodiment inverse reinforcement learning

K. Zakka, A. Zeng, P. Florence, J. Tompson, J. Bohg, and D. Dwibedi · 2021

Earlier work this paper cites.

Isaac gym: High performance gpu-based physics simulation for robot learning, 2021

Original

V. Makoviychuk, L. Wawrzyniak, Y. Guo, M. Lu, K. Storey, M. Macklin, D. Hoeller, N. Rudin, A. Allshire, A. Handa, and G. State · 2021

Earlier work this paper cites.

rl-games: A high-performance framework for reinforcement learning

D. Makoviichuk and V. Makoviychuk · 2021

Earlier work this paper cites.

Graph inverse reinforcement learning from diverse videos

S. Kumar, J. Zamora, N. Hansen, R. Jangir, and X. Wang · 2022

Earlier work this paper cites.

Demonstrate once, imitate immediately (dome): Learning visual servoing for one-shot imitation learning

E. Valassakis, G. Papagiannis, N. Di Palo, and E. Johns · 2022

Earlier work this paper cites.

Rapid locomotion via reinforcement learning

G. Margolis, G. Yang, K. Paigwar, T. Chen, and P. Agrawal · 2022

Earlier work this paper cites.

Learning robust perceptive locomotion for quadrupedal robots in the wild

T. Miki, J. Lee, J. Hwangbo, L. Wellhausen, V. Koltun, and M. Hutter · 2022

Earlier work this paper cites.

In-Hand Object Rotation via Rapid Motor Adaptation

H. Qi, A. Kumar, R. Calandra, Y. Ma, and J. Malik · 2022

Earlier work this paper cites.

Towards human-level bimanual dexterous manipulation with reinforcement learning

Y. Chen, Y. Yang, T. Wu, S. Wang, X. Feng, J. Jiang, Z. Lu, S. M. McAleer, H. Dong, and S.-C. Zhu · 2022

Earlier work this paper cites.

Learning continuous grasping function with a dexterous hand from human demonstrations

J. Ye, J. Wang, B. Huang, Y. Qin, and X. Wang · 2023

Cited alongside, same era.

Diffusion policy: Visuomotor policy learning via action diffusion

C. Chi, Z. Xu, S. Feng, E. Cousineau, Y. Du, B. Burchfiel, R. Tedrake, and S. Song · 2023

Cited alongside, same era.

One-shot imitation learning: A pose estimation perspective

P. Vitiello, K. Dreczkowski, and E. Johns · 2023

Cited alongside, same era.

Champion-level drone racing using deep reinforcement learning

E. Kaufmann, L. Bauersfeld, A. Loquercio, M. Mueller, V. Koltun, and D. Scaramuzza · 2023

Cited alongside, same era.

Unidexgrasp++: Improving dexterous grasping policy learning via geometry-aware curriculum and iterative generalist-specialist learning

Original

W. Wan, H. Geng, Y. Liu, Z. Shan, Y. Yang, L. Yi, and H. Wang · 2023

Cited alongside, same era.

Reconciling reality through simulation: A real-to-sim-to-real approach for robust manipulation

M. Torne, A. Simeonov, Z. Li, A. Chan, T. Chen, A. Gupta, and P. Agrawal · 2024

Later among the works it cites.

Hand-object interaction pretraining from videos, 2024

Original

H. G. Singh, A. Loquercio, C. Sferrazza, J. Wu, H. Qi, P. Abbeel, and J. Malik · 2024

Later among the works it cites.

Robot see robot do: Imitating articulated object manipulation with monocular 4d reconstruction

J. Kerr, C. M. Kim, M. Wu, B. Yi, Q. Wang, K. Goldberg, and A. Kanazawa · 2024

Later among the works it cites.

ALOHA unleashed: A simple recipe for robot dexterity

T. Z. Zhao, J. Tompson, D. Driess, P. Florence, S. K. S. Ghasemipour, C. Finn, and A. Wahid · 2024

Later among the works it cites.

Universal manipulation interface: In-the-wild robot teaching without in-the-wild robots

C. Chi, Z. Xu, C. Pan, E. Cousineau, B. Burchfiel, S. Feng, R. Tedrake, and S. Song · 2024

Later among the works it cites.