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Fine-grained robot manipulation, such as lifting and rotating a bottle to display the label on the cap, requires robust reasoning about object parts and their relationships with intended tasks.
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Shapenet: An information-rich 3d model repository
Angel X Chang, Thomas Funkhouser, Leonidas Guibas, Pat Hanrahan, Qixing Huang, Zimo Li, Silvio Savarese, Manolis Savva, Shuran Song, Hao Su, et al · 2015
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Deep residual learning for image recognition
Kaiming He, Xiangyu Zhang, Shaoqing Ren, and Jian Sun · 2016
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Pointnet++: Deep hierarchical feature learning on point sets in a metric space, 2017
Charles R. Qi, Li Yi, Hao Su, and Leonidas J. Guibas · 2017
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Vision-based multi-task manipulation for inexpensive robots using end-to-end learning from demonstration
Rouhollah Rahmatizadeh, Pooya Abolghasemi, Ladislau Bölöni, and Sergey Levine · 2018
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Deep imitation learning for complex manipulation tasks from virtual reality teleoperation
Tianhao Zhang, Zoe McCarthy, Owen Jow, Dennis Lee, Xi Chen, Ken Goldberg, and Pieter Abbeel · 2018
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Self-supervised correspondence in visuomotor policy learning
Peter Florence, Lucas Manuelli, and Russ Tedrake · 2019
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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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Rlbench: The robot learning benchmark & learning environment
Stephen James, Zicong Ma, David Rovick Arrojo, and Andrew J Davison · 2020
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Learning to generalize across long-horizon tasks from human demonstrations
Ajay Mandlekar, Danfei Xu, Roberto Martín-Martín, Silvio Savarese, and Li Fei-Fei · 2020
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Exploring the limits of transfer learning with a unified text-to-text transformer
Colin Raffel, Noam Shazeer, Adam Roberts, Katherine Lee, Sharan Narang, Michael Matena, Yanqi Zhou, Wei Li, and Peter J Liu · 2020
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Volumetric grasping network: Real-time 6 dof grasp detection in clutter
Michel Breyer, Jen Jen Chung, Lionel Ott, Roland Siegwart, and Juan Nieto · 2021
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Pybullet, a python module for physics simulation for games, robotics and machine learning
Erwin Coumans and Yunfei Bai · 2021
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Maniskill: Generalizable manipulation skill benchmark with large-scale demonstrations
Tongzhou Mu, Zhan Ling, Fanbo Xiang, Derek Yang, Xuanlin Li, Stone Tao, Zhiao Huang, Zhiwei Jia, and Hao Su · 2021
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Learning transferable visual models from natural language supervision
Alec Radford, Jong Wook Kim, Chris Hallacy, Aditya Ramesh, Gabriel Goh, Sandhini Agarwal, Girish Sastry, Amanda Askell, Pamela Mishkin, Jack Clark, et al · 2021
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Do as i can, not as i say: Grounding language in robotic affordances
Michael Ahn, Anthony Brohan, Noah Brown, Yevgen Chebotar, Omar Cortes, Byron David, Chelsea Finn, Chuyuan Fu, Keerthana Gopalakrishnan, Karol Hausman, et al · 2022
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Rt-1: Robotics transformer for real-world control at scale
Anthony Brohan, Noah Brown, Justice Carbajal, Yevgen Chebotar, Joseph Dabis, Chelsea Finn, Keerthana Gopalakrishnan, Karol Hausman, Alex Herzog, Jasmine Hsu, et al · 2022
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Calvin: A benchmark for language-conditioned policy learning for long-horizon robot manipulation tasks
Oier Mees, Lukas Hermann, Erick Rosete-Beas, and Wolfram Burgard · 2022
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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
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Rvt-2: Learning precise manipulation from few demonstrations
Ankit Goyal, Valts Blukis, Jie Xu, Yijie Guo, Yu-Wei Chao, and Dieter Fox · 2024
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Gpt-4o: The cutting-edge advancement in multimodal llm
Raisa Islam and Owana Marzia Moushi · 2024
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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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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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Act3d: 3d feature field transformers for multi-task robotic manipulation
Theophile Gervet, Zhou Xian, Nikolaos Gkanatsios, and Katerina Fragkiadaki · 2023
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Rvt: Robotic view transformer for 3d object manipulation
Ankit Goyal, Jie Xu, Yijie Guo, Valts Blukis, Yu-Wei Chao, and Dieter Fox · 2023
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Vima: Robot manipulation with multimodal prompts
Yunfan Jiang, Agrim Gupta, Zichen Zhang, Guanzhi Wang, Yongqiang Dou, Yanjun Chen, Li Fei-Fei, Anima Anandkumar, Yuke Zhu, and Linxi Fan · 2023
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Code as policies: Language model programs for embodied control
Jacky Liang, Wenlong Huang, Fei Xia, Peng Xu, Karol Hausman, Brian Ichter, Pete Florence, and Andy Zeng · 2023
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Perceiver-actor: A multi-task transformer for robotic manipulation
Mohit Shridhar, Lucas Manuelli, and Dieter Fox · 2023
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Llm-planner: Few-shot grounded planning for embodied agents with large language models
Chan Hee Song, Jiaman Wu, Clayton Washington, Brian M Sadler, Wei-Lun Chao, and Yu Su · 2023
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Learning adaptive planning representations with natural language guidance
Lionel Wong, Jiayuan Mao, Pratyusha Sharma, Zachary S Siegel, Jiahai Feng, Noa Korneev, Joshua B Tenenbaum, and Jacob Andreas · 2023
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Embodied task planning with large language models
Zhenyu Wu, Ziwei Wang, Xiuwei Xu, Jiwen Lu, and Haibin Yan · 2023
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Weiyu Liu, Jiayuan Mao, Joy Hsu, Tucker Hermans, Animesh Garg, and Jiajun Wu · 2024
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Aoran Mei, Jianhua Wang, Guo-Niu Zhu, and Zhongxue Gan · 2024
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Open x-embodiment: Robotic learning datasets and rt-x models
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Grounded sam: Assembling open-world models for diverse visual tasks, 2024
Tianhe Ren, Shilong Liu, Ailing Zeng, Jing Lin, Kunchang Li, He Cao, Jiayu Chen, Xinyu Huang, Yukang Chen, Feng Yan, Zhaoyang Zeng, Hao Zhang, Feng Li, Jie Yang, Hongyang Li, Qing Jiang, and Lei Zhang · 2024
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A comprehensive overview of deep learning techniques for 3d point cloud classification and semantic segmentation
Sushmita Sarker, Prithul Sarker, Gunner Stone, Ryan Gorman, Alireza Tavakkoli, George Bebis, and Javad Sattarvand · 2024
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A review of point cloud segmentation for understanding 3d indoor scenes
Yuliang Sun, Xudong Zhang, and Yongwei Miao · 2024
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Vlm see, robot do: Human demo video to robot action plan via vision language model
Beichen Wang, Juexiao Zhang, Shuwen Dong, Irving Fang, and Chen Feng · 2024
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Robopoint: A vision-language model for spatial affordance prediction for robotics
Wentao Yuan, Jiafei Duan, Valts Blukis, Wilbert Pumacay, Ranjay Krishna, Adithyavairavan Murali, Arsalan Mousavian, and Dieter Fox · 2024
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A survey of imitation learning: Algorithms, recent developments, and challenges
Maryam Zare, Parham M Kebria, Abbas Khosravi, and Saeid Nahavandi · 2024
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Yanjie Ze, Gu Zhang, Kangning Zhang, Chenyuan Hu, Muhan Wang, and Huazhe Xu · 2024
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