Learning Task-Oriented Grasping for Tool Manipulation from Simulated Self-Supervision

25 June 2018

Li Fei-Fei

Silvio Savarese

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Papers citing "Learning Task-Oriented Grasping for Tool Manipulation from Simulated Self-Supervision"

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Title
PartDexTOG: Generating Dexterous Task-Oriented Grasping via Language-driven Part Analysis Weishang Wu Yifei Shi Zhizhong Chen Zhipong Cai 7 0 0 18 May 2025
Dynamic Robot Tool Use with Vision Language Models Noah Trupin Zixing Wang A. H. Qureshi 42 0 0 02 May 2025
Triplane Grasping: Efficient 6-DoF Grasping with Single RGB Images Yiming Li Hanchi Ren Yue Yang Jingjing Deng Xianghua Xie 36 0 0 21 Oct 2024
Improving Soft-Capture Phase Success in Space Debris Removal Missions: Leveraging Deep Reinforcement Learning and Tactile Feedback Bahador Beigomi Zheng H. Zhu 37 0 0 18 Sep 2024
Adaptive Robotic Tool-Tip Control Learning Considering Online Changes in Grasping State Kento Kawaharazuka K. Okada Masayuki Inaba 37 6 0 10 Jul 2024
FoundationGrasp: Generalizable Task-Oriented Grasping with Foundation Models Chao Tang Dehao Huang Wenlong Dong Ruinian Xu Hong Zhang 38 11 0 16 Apr 2024
Knolling bot 2.0: Enhancing Object Organization with Self-supervised Graspability Estimation Yuhang Hu Zhizhuo Zhang Hod Lipson 19 0 0 30 Oct 2023
A Simple Approach for General Task-Oriented Picking using Placing constraints Jen-Wei Wang Lingfeng Sun Xinghao Zhu Q. Qian Masayoshi Tomizuka 31 3 0 03 Apr 2023
GoNet: An Approach-Constrained Generative Grasp Sampling Network Zehang Weng Haofei Lu Jens Lundell Danica Kragic 20 2 0 14 Mar 2023
Task-Oriented Grasp Prediction with Visual-Language Inputs Chao Tang Dehao Huang Lingxiao Meng Weiyu Liu Hong Zhang 28 34 0 28 Feb 2023
Constrained Generative Sampling of 6-DoF Grasps Jens Lundell Francesco Verdoja Tran Minh Son Le Arsalan Mousavian Dieter Fox Ville Kyrki 3DV SLR 23 6 0 21 Feb 2023
Learning 6-DoF Task-oriented Grasp Detection via Implicit Estimation and Visual Affordance Wenkai Chen Hongzhuo Liang Zhaopeng Chen Gang Hua Jian-Wei Zhang 19 22 0 16 Oct 2022
Volumetric-based Contact Point Detection for 7-DoF Grasping Junhao Cai Jingcheng Su Zi-Ye Zhou Hui Cheng Qifeng Chen M. Y. Wang 3DPC 43 9 0 14 Sep 2022
Grasp'D: Differentiable Contact-rich Grasp Synthesis for Multi-fingered Hands Dylan Turpin Liquang Wang Eric Heiden Yun-Chun Chen Miles Macklin Stavros Tsogkas Sven J. Dickinson Animesh Garg 24 67 0 25 Aug 2022
Leveraging Language for Accelerated Learning of Tool Manipulation Allen Z. Ren Bharat Govil Tsung-Yen Yang Karthik R. Narasimhan Anirudha Majumdar LM&Ro 26 37 0 27 Jun 2022
Learning to Use Chopsticks in Diverse Gripping Styles Zeshi Yang KangKang Yin Libin Liu 30 29 0 28 May 2022
DiffSkill: Skill Abstraction from Differentiable Physics for Deformable Object Manipulations with Tools Xingyu Lin Zhiao Huang Yunzhu Li J. Tenenbaum David Held Chuang Gan 30 72 0 31 Mar 2022
OakInk: A Large-scale Knowledge Repository for Understanding Hand-Object Interaction Lixin Yang Kailin Li Xinyu Zhan Fei Wu Anran Xu Liu Liu Cewu Lu 31 93 0 29 Mar 2022
GATER: Learning Grasp-Action-Target Embeddings and Relations for Task-Specific Grasping Mingdong Sun Yue Gao 33 14 0 27 Nov 2021
Scene Editing as Teleoperation: A Case Study in 6DoF Kit Assembly Yulong Li Shubh Agrawal Jen-Shuo Liu Steven K. Feiner Shuran Song 37 13 0 09 Oct 2021
CaTGrasp: Learning Category-Level Task-Relevant Grasping in Clutter from Simulation Bowen Wen Wenzhao Lian Kostas Bekris S. Schaal 26 74 0 19 Sep 2021
ManiSkill: Generalizable Manipulation Skill Benchmark with Large-Scale Demonstrations Tongzhou Mu Z. Ling Fanbo Xiang Derek Yang Xuanlin Li Stone Tao Zhiao Huang Zhiwei Jia Hao Su 39 130 0 30 Jul 2021
GIFT: Generalizable Interaction-aware Functional Tool Affordances without Labels Dylan Turpin Liquang Wang Stavros Tsogkas Sven J. Dickinson Animesh Garg 19 26 0 28 Jun 2021
VAT-Mart: Learning Visual Action Trajectory Proposals for Manipulating 3D ARTiculated Objects Ruihai Wu Yan Zhao Kaichun Mo Zizheng Guo Yian Wang Tianhao Wu Qingnan Fan Xuelin Chen Leonidas J. Guibas Hao Dong 41 90 0 28 Jun 2021
Discovering Generalizable Skills via Automated Generation of Diverse Tasks Kuan Fang Yuke Zhu Silvio Savarese Li Fei-Fei 48 6 0 26 Jun 2021
ManipulaTHOR: A Framework for Visual Object Manipulation Kiana Ehsani Winson Han Alvaro Herrasti Eli VanderBilt Luca Weihs Eric Kolve Aniruddha Kembhavi Roozbeh Mottaghi LM&Ro 171 126 0 22 Apr 2021
Synergies Between Affordance and Geometry: 6-DoF Grasp Detection via Implicit Representations Zhenyu Jiang Yifeng Zhu Maxwell Svetlik Kuan Fang Yuke Zhu 28 139 0 04 Apr 2021
A Joint Network for Grasp Detection Conditioned on Natural Language Commands Yiye Chen Ruinian Xu Yunzhi Lin Patricio A. Vela 38 46 0 01 Apr 2021
Contact-GraspNet: Efficient 6-DoF Grasp Generation in Cluttered Scenes M. Sundermeyer Arsalan Mousavian Rudolph Triebel Dieter Fox 3DPC 24 355 0 25 Mar 2021
Semantics for Robotic Mapping, Perception and Interaction: A Survey Sourav Garg Niko Sünderhauf Feras Dayoub D. Morrison Akansel Cosgun ... Tat-Jun Chin Ian Reid Stephen Gould Peter Corke Michael Milford 26 115 0 02 Jan 2021
Emergent Hand Morphology and Control from Optimizing Robust Grasps of Diverse Objects Xinlei Pan Animesh Garg Anima Anandkumar Yuke Zhu 18 15 0 22 Dec 2020
Deep Affordance Foresight: Planning Through What Can Be Done in the Future Danfei Xu Ajay Mandlekar Roberto Martín-Martín Yuke Zhu Silvio Savarese Li Fei-Fei 33 71 0 17 Nov 2020
A Long Horizon Planning Framework for Manipulating Rigid Pointcloud Objects Anthony Simeonov Yilun Du Beomjoon Kim F. Hogan J. Tenenbaum Pulkit Agrawal Alberto Rodriguez 3DPC 22 49 0 16 Nov 2020
Towards Robotic Assembly by Predicting Robust, Precise and Task-oriented Grasps Jialiang Zhao Daniel M. Troniak Oliver Kroemer 24 14 0 04 Nov 2020
Generalization to New Actions in Reinforcement Learning Ayush Jain Andrew Szot Joseph J. Lim AI4CE 33 34 0 03 Nov 2020
KOVIS: Keypoint-based Visual Servoing with Zero-Shot Sim-to-Real Transfer for Robotics Manipulation En Yen Puang K. P. Tee Wei Jing 3DPC 32 42 0 28 Jul 2020
A Mechanical Screwing Tool for 2-Finger Parallel Grippers -- Design, Optimization, and Manipulation Policies Zhengtao Hu Weiwei Wan Keisuke Koyama Kensuke Harada 23 11 0 18 Jun 2020
How to Close Sim-Real Gap? Transfer with Segmentation! Mengyuan Yan Qingyun Sun I. Frosio Stephen Tyree Jan Kautz 15 10 0 14 May 2020
IRIS: Implicit Reinforcement without Interaction at Scale for Learning Control from Offline Robot Manipulation Data Ajay Mandlekar Fabio Ramos Byron Boots Silvio Savarese Li Fei-Fei Animesh Garg Dieter Fox OffRL 34 117 0 13 Nov 2019
Learning to Scaffold the Development of Robotic Manipulation Skills Lin Shao Toki Migimatsu Jeannette Bohg 13 29 0 03 Nov 2019
Dynamics Learning with Cascaded Variational Inference for Multi-Step Manipulation Kuan Fang Yuke Zhu Animesh Garg Silvio Savarese Li Fei-Fei DRL 23 47 0 29 Oct 2019
KETO: Learning Keypoint Representations for Tool Manipulation Zengyi Qin Kuan Fang Yuke Zhu Li Fei-Fei Silvio Savarese 3DPC 38 107 0 26 Oct 2019
Using Synthetic Data and Deep Networks to Recognize Primitive Shapes for Object Grasping Yunzhi Lin Chao Tang Fu-Jen Chu Patricio A. Vela 3DPC 18 39 0 12 Sep 2019
Rapid trial-and-error learning with simulation supports flexible tool use and physical reasoning Kelsey R. Allen Kevin A. Smith J. Tenenbaum LRM 31 108 0 22 Jul 2019
Reinforcement Learning without Ground-Truth State Xingyu Lin H. Baweja David Held OffRL SSL 20 24 0 20 May 2019
Modeling Grasp Type Improves Learning-Based Grasp Planning Qingkai Lu Tucker Hermans 16 40 0 10 Jan 2019
RoboTurk: A Crowdsourcing Platform for Robotic Skill Learning through Imitation Mehdi Letafati Yuke Zhu Animesh Garg Jonathan Booher Max Spero ... John Emmons Anchit Gupta Emre Orbay Silvio Savarese Li Fei-Fei OffRL 48 282 0 07 Nov 2018
Learning Human Activities and Object Affordances from RGB-D Videos H. Koppula Rudhir Gupta Ashutosh Saxena 96 727 0 04 Oct 2012