Self-Supervised Correspondence in Visuomotor Policy Learning

16 September 2019

Papers citing "Self-Supervised Correspondence in Visuomotor Policy Learning"

43 / 43 papers shown

Title
Adaptive Wiping: Adaptive contact-rich manipulation through few-shot imitation learning with Force-Torque feedback and pre-trained object representations Chikaha Tsuji Enrique Coronado Pablo Osorio G. Venture 29 0 0 09 May 2025
The Unreasonable Effectiveness of Discrete-Time Gaussian Process Mixtures for Robot Policy Learning Jan Ole von Hartz Adrian Rofer Joschka Boedecker Abhinav Valada 39 0 0 06 May 2025
IMLE Policy: Fast and Sample Efficient Visuomotor Policy Learning via Implicit Maximum Likelihood Estimation Krishan Rana Robert Lee David Pershouse Niko Suenderhauf VGen 56 0 0 17 Feb 2025
Unpacking Failure Modes of Generative Policies: Runtime Monitoring of Consistency and Progress Christopher Agia Rohan Sinha Jingyun Yang Zi-ang Cao Rika Antonova Marco Pavone Jeannette Bohg 31 7 0 06 Oct 2024
IMRL: Integrating Visual, Physical, Temporal, and Geometric Representations for Enhanced Food Acquisition Rui Liu Zahiruddin Mahammad Amisha Bhaskar Pratap Tokekar 23 1 0 18 Sep 2024
Dreamitate: Real-World Visuomotor Policy Learning via Video Generation Junbang Liang Ruoshi Liu Ege Ozguroglu Sruthi Sudhakar Achal Dave P. Tokmakov Shuran Song Carl Vondrick VGen 42 23 0 24 Jun 2024
Learning Prehensile Dexterity by Imitating and Emulating State-only Observations Yunhai Han Zhenyang Chen Harish Ravichandar 30 5 0 08 Apr 2024
Generalizable Imitation Learning Through Pre-Trained Representations Wei-Di Chang F. Hogan D. Meger Gregory Dudek Gregory Dudek 41 1 0 15 Nov 2023
Learning Generalizable Manipulation Policies with Object-Centric 3D Representations Yifeng Zhu Zhenyu Jiang Peter Stone Yuke Zhu 3DPC 24 43 0 22 Oct 2023
CCIL: Continuity-based Data Augmentation for Corrective Imitation Learning Liyiming Ke Yunchu Zhang Abhay Deshpande S. Srinivasa Abhishek Gupta OffRL 27 12 0 19 Oct 2023
Doduo: Learning Dense Visual Correspondence from Unsupervised Semantic-Aware Flow Zhenyu Jiang Hanwen Jiang Yuke Zhu VOS 27 4 0 26 Sep 2023
Few-Shot Learning of Force-Based Motions From Demonstration Through Pre-training of Haptic Representation Marina Y. Aoyama João Moura Namiko Saito S. Vijayakumar 21 5 0 08 Sep 2023
Robust Visual Sim-to-Real Transfer for Robotic Manipulation Ricardo Garcia Pinel Robin Strudel Shizhe Chen Etienne Arlaud Ivan Laptev Cordelia Schmid OffRL 28 4 0 28 Jul 2023
Distilled Feature Fields Enable Few-Shot Language-Guided Manipulation Bokui (William) Shen Ge Yang Alan Yu J. Wong L. Kaelbling Phillip Isola VLM 29 104 0 27 Jul 2023
Chain-of-Thought Predictive Control Zhiwei Jia Vineet Thumuluri Fangchen Liu Ling-Hao Chen Zhiao Huang H. Su LM&Ro 39 20 0 03 Apr 2023
VIMA: General Robot Manipulation with Multimodal Prompts Yunfan Jiang Agrim Gupta Zichen Zhang Guanzhi Wang Yongqiang Dou Yanjun Chen Li Fei-Fei Anima Anandkumar Yuke Zhu Linxi Fan LM&Ro 28 335 0 06 Oct 2022
Entropy-driven Unsupervised Keypoint Representation Learning in Videos A. Younes Simone Schaub-Meyer Georgia Chalvatzaki SSL 33 0 0 30 Sep 2022
Unsupervised Reward Shaping for a Robotic Sequential Picking Task from Visual Observations in a Logistics Scenario Vittorio Giammarino Andrew J Meyer Kai Biegun OffRL 21 0 0 25 Sep 2022
Learning Dense Visual Descriptors using Image Augmentations for Robot Manipulation Tasks Christian Graf David B. Adrian Joshua Weil Miroslav Gabriel Philipp Schillinger Markus Spies Heiko Neumann A. Kupcsik SSL 32 6 0 12 Sep 2022
K-VIL: Keypoints-based Visual Imitation Learning Jianfeng Gao Z. Tao Noémie Jaquier Tamim Asfour VGen SSL 47 23 0 07 Sep 2022
Graph Inverse Reinforcement Learning from Diverse Videos Sateesh Kumar Jonathan Zamora Nicklas Hansen Rishabh Jangir Xiaolong Wang 32 53 0 28 Jul 2022
Transformers are Adaptable Task Planners Vidhi Jain Yixin Lin Eric Undersander Yonatan Bisk Akshara Rai 25 24 0 06 Jul 2022
Efficient and Robust Training of Dense Object Nets for Multi-Object Robot Manipulation David B. Adrian A. Kupcsik Markus Spies Heiko Neumann 3DPC 45 7 0 24 Jun 2022
Socratic Models: Composing Zero-Shot Multimodal Reasoning with Language Andy Zeng Maria Attarian Brian Ichter K. Choromanski Adrian S. Wong ... Michael S. Ryoo Vikas Sindhwani Johnny Lee Vincent Vanhoucke Peter R. Florence ReLM LRM 18 572 0 01 Apr 2022
NeRF-Supervision: Learning Dense Object Descriptors from Neural Radiance Fields Lin Yen-Chen Peter R. Florence Jonathan T. Barron Nayeon Lee Alberto Rodriguez Phillip Isola 36 120 0 03 Mar 2022
You Only Demonstrate Once: Category-Level Manipulation from Single Visual Demonstration Bowen Wen Wenzhao Lian Kostas Bekris S. Schaal 22 90 0 30 Jan 2022
Deep Visual Constraints: Neural Implicit Models for Manipulation Planning from Visual Input Jung-Su Ha Danny Driess Marc Toussaint 27 12 0 09 Dec 2021
Learning Multi-Stage Tasks with One Demonstration via Self-Replay Norman Di Palo Edward Johns SSL 32 23 0 14 Nov 2021
CLIPort: What and Where Pathways for Robotic Manipulation Mohit Shridhar Lucas Manuelli D. Fox LM&Ro 65 629 0 24 Sep 2021
Demonstration-Efficient Guided Policy Search via Imitation of Robust Tube MPC Andrea Tagliabue Dong-Ki Kim M. Everett Jonathan P. How 56 22 0 21 Sep 2021
Bundled Gradients through Contact via Randomized Smoothing H. Suh Tao Pang Russ Tedrake 83 52 0 11 Sep 2021
Implicit Behavioral Cloning Peter R. Florence Corey Lynch Andy Zeng Oscar Ramirez Ayzaan Wahid Laura Downs Adrian S. Wong Johnny Lee Igor Mordatch Jonathan Tompson OffRL 49 368 0 01 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
XIRL: Cross-embodiment Inverse Reinforcement Learning Kevin Zakka Andy Zeng Peter R. Florence Jonathan Tompson Jeannette Bohg Debidatta Dwibedi SSL 35 118 0 07 Jun 2021
S4RL: Surprisingly Simple Self-Supervision for Offline Reinforcement Learning Samarth Sinha Ajay Mandlekar Animesh Garg OffRL 26 104 0 10 Mar 2021
kPAM 2.0: Feedback Control for Category-Level Robotic Manipulation Wei Gao Russ Tedrake 27 71 0 11 Feb 2021
Reinforcement Learning with Videos: Combining Offline Observations with Interaction Karl Schmeckpeper Oleh Rybkin Kostas Daniilidis Sergey Levine Chelsea Finn OffRL 16 105 0 12 Nov 2020
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
MELD: Meta-Reinforcement Learning from Images via Latent State Models Tony Zhao Anusha Nagabandi Kate Rakelly Chelsea Finn Sergey Levine OffRL 32 36 0 26 Oct 2020
Keypoints into the Future: Self-Supervised Correspondence in Model-Based Reinforcement Learning Lucas Manuelli Yunzhu Li Peter R. Florence Russ Tedrake SSL 22 102 0 10 Sep 2020
Learning Dense Visual Correspondences in Simulation to Smooth and Fold Real Fabrics Aditya Ganapathi Priya Sundaresan Brijen Thananjeyan Ashwin Balakrishna Daniel Seita ... Joseph E. Gonzalez Nawid Jamali K. Yamane Soshi Iba Ken Goldberg 19 27 0 28 Mar 2020
Visual Task Progress Estimation with Appearance Invariant Embeddings for Robot Control and Planning Guilherme J. Maeda Joni Väätäinen Hironori Yoshida 17 2 0 16 Mar 2020
Transferring End-to-End Visuomotor Control from Simulation to Real World for a Multi-Stage Task Stephen James Andrew J. Davison Edward Johns 162 275 0 07 Jul 2017