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Large-scale, diverse robot datasets have emerged as a promising path toward enabling dexterous manipulation policies to generalize to novel environments, but acquiring such datasets presents many challenges.
Alvinn: An autonomous land vehicle in a neural network
Dean A Pomerleau · 1988
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Is imitation learning the route to humanoid robots?
Stefan Schaal · 1999
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Hybrid tracking of human operators using imu/uwb data fusion by a kalman filter
Juan Antonio Corrales, Francisco A Candelas, and Fernando Torres · 2008
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A reduction of imitation learning and structured prediction to no-regret online learning
Stéphane Ross, Geoffrey Gordon, and Drew Bagnell · 2011
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Comparative abilities of microsoft kinect and vicon 3d motion capture for gait analysis
Alexandra Pfister, Alexandre M West, Shaw Bronner, and Jack Adam Noah · 2014
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Upper limb motion tracking with the integration of imu and kinect
Yushuang Tian, Xiaoli Meng, Dapeng Tao, Dongquan Liu, and Chen Feng · 2015
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Attention is all you need
A Vaswani · 2017
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Epic-kitchens: A large-scale dataset for recognizing, anticipating, and retrieving hand-object interactions
Dima Damen, Hazel Doughty, Giovanni Maria Farinella, Sanja Fidler, Antonino Furnari, Evangelos Kazakos, Davide Moltisanti, Jonathan Munro, Toby Perrett, Will Price, and Michael Wray · 2018
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Riemannian motion policies, 2018
Nathan D. Ratliff, Jan Issac, Daniel Kappler, Stan Birchfield, and Dieter Fox · 2018
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Freihand: A dataset for markerless capture of hand pose and shape from single rgb images
Christian Zimmermann, Duygu Ceylan, Jimei Yang, Bryan Russell, Max Argus, and Thomas Brox · 2019
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Language models are few-shot learners
Tom Brown, Benjamin Mann, Nick Ryder, Melanie Subbiah, Jared D Kaplan, Prafulla Dhariwal, Arvind Neelakantan, Pranav Shyam, Girish Sastry, Amanda Askell, et al · 2020
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Dexpilot: Vision-based teleoperation of dexterous robotic hand-arm system
Ankur Handa, Karl Van Wyk, Wei Yang, Jacky Liang, Yu-Wei Chao, Qian Wan, Stan Birchfield, Nathan Ratliff, and Dieter Fox · 2020
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Grasping in the wild: Learning 6dof closed-loop grasping from low-cost demonstrations
Shuran Song, Andy Zeng, Johnny Lee, and Thomas Funkhouser · 2020
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Dexycb: A benchmark for capturing hand grasping of objects
Yu-Wei Chao, Wei Yang, Yu Xiang, Pavlo Molchanov, Ankur Handa, Jonathan Tremblay, Yashraj S Narang, Karl Van Wyk, Umar Iqbal, Stan Birchfield, et al · 2021
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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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Frankmocap: A monocular 3d whole-body pose estimation system via regression and integration
Yu Rong, Takaaki Shiratori, and Hanbyul Joo · 2021
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Ego4d: Around the world in 3,000 hours of egocentric video
Kristen Grauman, Michael Ryoo, Aljoša Smolić, Minh Vo, and et al · 2022
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R3M: A universal visual representation for robot manipulation
Suraj Nair, Aravind Rajeswaran, Vikash Kumar, and Chelsea Finn · 2022
Cited alongside, same era.
Real-world robot learning with masked visual pre-training
Ilija Radosavovic, Tete Xiao, Stephen James, Pieter Abbeel, Jitendra Malik, and Trevor Darrell · 2022
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Affordances from human videos as a versatile representation for robotics
Shikhar Bahl, Russell Mendonca, Lili Chen, Unnat Jain, and Deepak Pathak · 2023
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Diffusion policy: Visuomotor policy learning via action diffusion
Cheng Chi, Siyuan Feng, Yilun Du, Zhenjia Xu, Eric Cousineau, Benjamin Burchfiel, and Shuran Song · 2023
Cited alongside, same era.
An unbiased look at datasets for visuo-motor pre-training
Sudeep Dasari, Mohan Kumar Srirama, Unnat Jain, and Abhinav Gupta · 2023
Cited alongside, same era.
Robot utility models: General policies for zero-shot deployment in new environments, 2024
Haritheja Etukuru, Norihito Naka, Zijin Hu, Seungjae Lee, Julian Mehu, Aaron Edsinger, Chris Paxton, Soumith Chintala, Lerrel Pinto, and Nur Muhammad Mahi Shafiullah · 2024
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Open-television: An open-source immersive teleoperation system with stereo visual feedback
Authors from UC San Diego and MIT · 2024
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UMI on legs: Making manipulation policies mobile with manipulation-centric whole-body controllers
Huy Ha, Yihuai Gao, Zipeng Fu, Jie Tan, and Shuran Song · 2024
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OPEN TEACH: A versatile teleoperation system for robotic manipulation
Aadhithya Iyer, Zhuoran Peng, Yinlong Dai, Irmak Guzey, Siddhant Haldar, Soumith Chintala, and Lerrel Pinto · 2024
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Egomimic: Scaling imitation learning via egocentric video, 2024
Simar Kareer, Dhruv Patel, Ryan Punamiya, Pranay Mathur, Shuo Cheng, Chen Wang, Judy Hoffman, and Danfei Xu · 2024
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Arctic: A dataset for dexterous bimanual hand-object manipulation
Zicong Fan, Omid Taheri, Dimitrios Tzionas, Muhammed Kocabas, Manuel Kaufmann, Michael J Black, and Otmar Hilliges · 2023
Cited alongside, same era.
Toward general-purpose robots via foundation models: A survey and meta-analysis
Yafei Hu, Quanting Xie, Vidhi Jain, Jonathan Francis, Jay Patrikar, Nikhil Keetha, Seungchan Kim, Yaqi Xie, Tianyi Zhang, Zhibo Zhao, et al · 2023
Cited alongside, same era.
Visual instruction tuning
Haotian Liu, Chunyuan Li, Qingyang Wu, and Yong Jae Lee · 2023
Cited alongside, same era.
Orbit: A unified simulation framework for interactive robot learning environments
Mayank Mittal, Calvin Yu, Qinxi Yu, Jingzhou Liu, Nikita Rudin, David Hoeller, Jia Lin Yuan, Ritvik Singh, Yunrong Guo, Hammad Mazhar, Ajay Mandlekar, Buck Babich, Gavriel State, Marco Hutter, and Animesh Garg · 2023
Cited alongside, same era.
Octo: An open-source generalist robot policy
OM Team, D Ghosh, H Walke, K Pertsch, K Black, O Mees, S Dasari, J Hejna, C Xu, J Luo, et al · 2023
Cited alongside, same era.
Llama: Open and efficient foundation language models
Hugo Touvron, Thibaut Lavril, Gautier Izacard, Xavier Martinet, Marie-Anne Lachaux, Timothée Lacroix, Baptiste Rozière, Naman Goyal, Eric Hambro, Faisal Azhar, et al · 2023
Cited alongside, same era.
Bridgedata v2: A dataset for robot learning at scale
Homer Walke, Kevin Black, Abraham Lee, Moo Jin Kim, Max Du, Chongyi Zheng, Tony Zhao, Philippe Hansen-Estruch, Quan Vuong, Andre He, Vivek Myers, Kuan Fang, Chelsea Finn, and Sergey Levine · 2023
Cited alongside, same era.
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Droid: A large-scale in-the-wild robot manipulation dataset
Alexander Khazatsky, Karl Pertsch, Suraj Nair, Ashwin Balakrishna, Sudeep Dasari, Siddharth Karamcheti, Soroush Nasiriany, Mohan Kumar Srirama, Lawrence Yunliang Chen, Kirsty Ellis, et al · 2024
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Openvla: An open-source vision-language-action model
Moo Jin Kim, Karl Pertsch, Siddharth Karamcheti, Ted Xiao, Ashwin Balakrishna, Suraj Nair, Rafael Rafailov, Ethan Foster, Grace Lam, Pannag Sanketi, et al · 2024
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Data scaling laws in imitation learning for robotic manipulation
Fanqi Lin, Yingdong Hu, Pingyue Sheng, Chuan Wen, Jiacheng You, and Yang Gao · 2024
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Reconstructing hands in 3d with transformers
Georgios Pavlakos, Dandan Shan, Ilija Radosavovic, Angjoo Kanazawa, David Fouhey, and Jitendra Malik · 2024
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Bimanual dexterity for complex tasks
Kenneth Shaw, Yulong Li, Jiahui Yang, Mohan Kumar Srirama, Ray Liu, Haoyu Xiong, Russell Mendonca, and Deepak Pathak · 2024
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HRP: Human affordances for robotic pre-training
Mohan Kumar Srirama, Sudeep Dasari, Shikhar Bahl, and Abhinav Gupta · 2024
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PaliGemma 2: A Family of Versatile VLMs for Transfer
Andreas Steiner, André Susano Pinto, Michael Tschannen, Daniel Keysers, Xiao Wang, Yonatan Bitton, Alexey Gritsenko, Matthias Minderer, Anthony Sherbondy, Shangbang Long, Siyang Qin, Reeve Ingle, Emanuele Bugliarello, Sahar Kazemzadeh, Thomas Mesnard, Ibrahim Alabdulmohsin, Lucas Beyer, and Xiaohua Zhai · 2024
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Dexcap: Scalable and portable mocap data collection system for dexterous manipulation
Chen Wang, Haochen Shi, Weizhuo Wang, Ruohan Zhang, Li Fei-Fei, and Karen Liu · 2024
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Latent action pretraining from videos
Seonghyeon Ye, Joel Jang, Byeongguk Jeon, Sejune Joo, Jianwei Yang, Baolin Peng, Ajay Mandlekar, Reuben Tan, Yu-Wei Chao, Bill Yuchen Lin, et al · 2024
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Humanoid policy ˜ human policy
Ri-Zhao Qiu, Shiqi Yang, Xuxin Cheng, Chaitanya Chawla, Jialong Li, Tairan He, Ge Yan, David J. Yoon, Ryan Hoque, Lars Paulsen, Ge Yang, Jian Zhang, Sha Yi, Guanya Shi, and Xiaolong Wang · 2025
Closest in time.
Doglove: Dexterous manipulation with a low-cost open-source haptic force feedback glove
Han Zhang, Songbo Hu, Zhecheng Yuan, and Huazhe Xu · 2025
Closest in time.