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Visuomotor policies learned from teleoperated demonstrations face challenges such as lengthy data collection, high costs, and limited data diversity.
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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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Jonathan T Barron, Ben Mildenhall, Dor Verbin, Pratul P Srinivasan, and Peter Hedman · 2022
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Do as i can, not as i say: Grounding language in robotic affordances
Alex Irpan, Alexander Herzog, Alexander Toshkov Toshev, Andy Zeng, Anthony Brohan, Brian Andrew Ichter, Byron David, Carolina Parada, Chelsea Finn, Clayton Tan, et al · 2022
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Georgios Kopanas, Thomas Leimkühler, Gilles Rainer, Clément Jambon, and George Drettakis · 2022
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Zhao Mandi, Homanga Bharadhwaj, Vincent Moens, Shuran Song, Aravind Rajeswaran, and Vikash Kumar · 2022
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Hyunwoo Ryu, Hong-in Lee, Jeong-Hoon Lee, and Jongeun Choi · 2022
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Neural descriptor fields: Se (3)-equivariant object representations for manipulation
Anthony Simeonov, Yilun Du, Andrea Tagliasacchi, Joshua B Tenenbaum, Alberto Rodriguez, Pulkit Agrawal, and Vincent Sitzmann · 2022
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Josh Achiam, Steven Adler, Sandhini Agarwal, Lama Ahmad, Ilge Akkaya, Florencia Leoni Aleman, Diogo Almeida, Janko Altenschmidt, Sam Altman, Shyamal Anadkat, et al · 2023
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One-shot imitation learning via interaction warping
Ondrej Biza, Skye Thompson, Kishore Reddy Pagidi, Abhinav Kumar, Elise van der Pol, Robin Walters, Thomas Kipf, Jan-Willem van de Meent, Lawson LS Wong, and Robert Platt · 2023
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Rt-2: Vision-language-action models transfer web knowledge to robotic control
Anthony Brohan, Noah Brown, Justice Carbajal, Yevgen Chebotar, Xi Chen, Krzysztof Choromanski, Tianli Ding, Danny Driess, Avinava Dubey, Chelsea Finn, et al · 2023
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Genaug: Retargeting behaviors to unseen situations via generative augmentation
Zoey Chen, Sho Kiami, Abhishek Gupta, and Vikash Kumar · 2023
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Cheng Chi, Zhenjia Xu, Siyuan Feng, Eric Cousineau, Yilun Du, Benjamin Burchfiel, Russ Tedrake, and Shuran Song · 2023
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Local neural descriptor fields: Locally conditioned object representations for manipulation
Ethan Chun, Yilun Du, Anthony Simeonov, Tomas Lozano-Perez, and Leslie Kaelbling · 2023
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Anygrasp: Robust and efficient grasp perception in spatial and temporal domains
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Zhihao Liang, Qi Zhang, Ying Feng, Ying Shan, and Kui Jia · 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, Charles Xu, Jianlan Luo, Tobias Kreiman, You Liang Tan, Lawrence Yunliang Chen, Pannag Sanketi, Quan Vuong, Ted Xiao, Dorsa Sadigh, Chelsea Finn, and Sergey Levine · 2024
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Splatsim: Zero-shot sim2real transfer of rgb manipulation policies using gaussian splatting
Mohammad Nomaan Qureshi, Sparsh Garg, Francisco Yandun, David Held, George Kantor, and Abhisesh Silwal · 2024
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Grounded sam: Assembling open-world models for diverse visual tasks
Tianhe Ren, Shilong Liu, Ailing Zeng, Jing Lin, Kunchang Li, He Cao, Jiayu Chen, Xinyu Huang, Yukang Chen, Feng Yan, et al · 2024
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Hao-Shu Fang, Chenxi Wang, Hongjie Fang, Minghao Gou, Jirong Liu, Hengxu Yan, Wenhai Liu, Yichen Xie, and Cewu Lu · 2023
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Multi-view masked world models for visual robotic manipulation
Younggyo Seo, Junsu Kim, Stephen James, Kimin Lee, Jinwoo Shin, and Pieter Abbeel · 2023
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One-shot imitation learning: A pose estimation perspective
Pietro Vitiello, Kamil Dreczkowski, and Edward Johns · 2023
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Unleashing large-scale video generative pre-training for visual robot manipulation, 2023
Hongtao Wu, Ya Jing, Chilam Cheang, Guangzeng Chen, Jiafeng Xu, Xinghang Li, Minghuan Liu, Hang Li, and Tao Kong · 2023
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Reconciling reality through simulation: A real-to-sim-to-real approach for robust manipulation
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Instant policy: In-context imitation learning via graph diffusion
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Equivact: Sim (3)-equivariant visuomotor policies beyond rigid object manipulation
Jingyun Yang, Congyue Deng, Jimmy Wu, Rika Antonova, Leonidas Guibas, and Jeannette Bohg · 2024
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Learning to manipulate anywhere: A visual generalizable framework for reinforcement learning
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