Learning Robotic Manipulation through Visual Planning and Acting

11 May 2019

Pieter Abbeel

Papers citing "Learning Robotic Manipulation through Visual Planning and Acting"

34 / 34 papers shown

Title
GenDOM: Generalizable One-shot Deformable Object Manipulation with Parameter-Aware Policy So Kuroki Jiaxian Guo T. Matsushima Takuya Okubo Masato Kobayashi Yuya Ikeda Ryosuke Takanami Paul D. Yoo Yutaka Matsuo Yusuke Iwasawa AI4CE 40 1 0 28 Jan 2025
GenORM: Generalizable One-shot Rope Manipulation with Parameter-Aware Policy So Kuroki Jiaxian Guo T. Matsushima Takuya Okubo Masato Kobayashi Yuya Ikeda Ryosuke Takanami Paul D. Yoo Yutaka Matsuo Yusuke Iwasawa 62 0 0 28 Jan 2025
Safety through Permissibility: Shield Construction for Fast and Safe Reinforcement Learning A. Politowicz Sahisnu Mazumder Bing-Quan Liu 31 0 0 29 May 2024
Ensemble Latent Space Roadmap for Improved Robustness in Visual Action Planning M. Lippi Michael C. Welle Andrea Gasparri Danica Kragic 30 0 0 27 Mar 2023
Failure-aware Policy Learning for Self-assessable Robotics Tasks Kechun Xu Runjian Chen Shuqing Zhao Zizhang Li Hongxiang Yu Ci Chen Yue Wang R. Xiong 20 1 0 25 Feb 2023
Deep Reinforcement Learning Based on Local GNN for Goal-conditioned Deformable Object Rearranging Yuhong Deng Chongkun Xia Xueqian Wang Lipeng Chen 26 15 0 21 Feb 2023
Graph-Transporter: A Graph-based Learning Method for Goal-Conditioned Deformable Object Rearranging Task Yuhong Deng Chongkun Xia Xueqian Wang Lipeng Chen 21 4 0 21 Feb 2023
Goal-Image Conditioned Dynamic Cable Manipulation through Bayesian Inference and Multi-Objective Black-Box Optimization K. Takahashi T. Taniguchi 29 0 0 27 Jan 2023
Predictive World Models from Real-World Partial Observations Robin Karlsson Alexander Carballo Keisuke Fujii Kento Ohtani K. Takeda 44 5 0 12 Jan 2023
Online Shielding for Reinforcement Learning Bettina Könighofer Julian Rudolf Alexander Palmisano Martin Tappler Roderick Bloem OffRL 8 20 0 04 Dec 2022
Discovering Closed-Loop Failures of Vision-Based Controllers via Reachability Analysis Kaustav Chakraborty Somil Bansal 36 12 0 04 Nov 2022
SGTM 2.0: Autonomously Untangling Long Cables using Interactive Perception K. Shivakumar Vainavi Viswanath Anrui Gu Yahav Avigal J. Kerr Jeffrey Ichnowski Richard Cheng Thomas Kollar Ken Goldberg 21 12 0 27 Sep 2022
Autonomously Untangling Long Cables Vainavi Viswanath K. Shivakumar J. Kerr Brijen Thananjeyan Ellen R. Novoseller Jeffrey Ichnowski Alejandro Escontrela Michael Laskey Joseph E. Gonzalez Ken Goldberg 31 21 0 16 Jul 2022
Contact Points Discovery for Soft-Body Manipulations with Differentiable Physics Sizhe Li Zhiao Huang Tao Du Hao Su J. Tenenbaum Chuang Gan 25 26 0 05 May 2022
Bisimulation Makes Analogies in Goal-Conditioned Reinforcement Learning Philippe Hansen-Estruch Amy Zhang Ashvin Nair Patrick Yin Sergey Levine AI4CE 31 27 0 27 Apr 2022
Augment-Connect-Explore: a Paradigm for Visual Action Planning with Data Scarcity M. Lippi Michael C. Welle Petra Poklukar Alessandro Marino Danica Kragic 27 3 0 24 Mar 2022
Differentiable Robotic Manipulation of Deformable Rope-like Objects Using Compliant Position-based Dynamics Fei Liu Entong Su Jingpei Lu Ming Li Michael C. Yip AI4CE 21 8 0 20 Feb 2022
Efficient Spatial Representation and Routing of Deformable One-Dimensional Objects for Manipulation Azarakhsh Keipour Maryam Bandari S. Schaal 13 8 0 13 Feb 2022
Example-Driven Model-Based Reinforcement Learning for Solving Long-Horizon Visuomotor Tasks Bohan Wu Suraj Nair Li Fei-Fei Chelsea Finn OffRL LM&Ro 38 24 0 21 Sep 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
Unsupervised Feature Learning for Manipulation with Contrastive Domain Randomization Carmel Rabinovitz Niko A. Grupen Aviv Tamar OOD SSL 28 3 0 20 Mar 2021
In-air Knotting of Rope using Dual-Arm Robot based on Deep Learning Kanata Suzuki Momomi Kanamura Y. Suga Hiroki Mori T. Ogata 28 22 0 17 Mar 2021
Enabling Visual Action Planning for Object Manipulation through Latent Space Roadmap M. Lippi Petra Poklukar Michael C. Welle Anastasia Varava Hang Yin Alessandro Marino Danica Kragic 21 13 0 03 Mar 2021
Untangling Dense Knots by Learning Task-Relevant Keypoints J. Grannen Priya Sundaresan Brijen Thananjeyan Jeffrey Ichnowski Ashwin Balakrishna M. Hwang Vainavi Viswanath Michael Laskey Joseph E. Gonzalez Ken Goldberg 27 48 0 10 Nov 2020
Robots of the Lost Arc: Self-Supervised Learning to Dynamically Manipulate Fixed-Endpoint Cables Harry Zhang Jeffrey Ichnowski Daniel Seita Jonathan Wang Huang Huang Ken Goldberg 29 42 0 10 Nov 2020
MMGSD: Multi-Modal Gaussian Shape Descriptors for Correspondence Matching in 1D and 2D Deformable Objects Aditya Ganapathi Priya Sundaresan Brijen Thananjeyan Ashwin Balakrishna Daniel Seita Ryan Hoque Joseph E. Gonzalez Ken Goldberg 26 4 0 09 Oct 2020
Plan2Vec: Unsupervised Representation Learning by Latent Plans Ge Yang Amy Zhang Ari S. Morcos Joelle Pineau Pieter Abbeel Roberto Calandra SSL OffRL 28 27 0 07 May 2020
Learning Predictive Representations for Deformable Objects Using Contrastive Estimation Wilson Yan Ashwin Vangipuram Pieter Abbeel Lerrel Pinto 37 188 0 11 Mar 2020
Learning Rope Manipulation Policies Using Dense Object Descriptors Trained on Synthetic Depth Data Priya Sundaresan J. Grannen Brijen Thananjeyan Ashwin Balakrishna Michael Laskey Kevin Stone Joseph E. Gonzalez Ken Goldberg 20 122 0 03 Mar 2020
Learning When to Trust a Dynamics Model for Planning in Reduced State Spaces D. Mcconachie Thomas Power Peter Mitrano Dmitry Berenson 23 35 0 29 Jan 2020
Learning Predictive Models From Observation and Interaction Karl Schmeckpeper Annie Xie Oleh Rybkin Stephen Tian Kostas Daniilidis Sergey Levine Chelsea Finn DRL 33 60 0 30 Dec 2019
Self-Supervised Learning of State Estimation for Manipulating Deformable Linear Objects Mengyuan Yan Yilin Zhu Ning Jin Jeannette Bohg SSL 42 146 0 14 Nov 2019
Learning to Manipulate Deformable Objects without Demonstrations Yilin Wu Wilson Yan Thanard Kurutach Lerrel Pinto Pieter Abbeel OffRL 31 199 0 29 Oct 2019
Keyframing the Future: Keyframe Discovery for Visual Prediction and Planning Karl Pertsch Oleh Rybkin Jingyun Yang Shenghao Zhou Konstantinos G. Derpanis Kostas Daniilidis Joseph J. Lim Andrew Jaegle VGen 45 24 0 11 Apr 2019