Learning to Generalize Across Long-Horizon Tasks from Human Demonstrations

13 March 2020

Ajay Mandlekar

Danfei Xu

Roberto Martín-Martín

Silvio Savarese

Li Fei-Fei

OffRL

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Papers citing "Learning to Generalize Across Long-Horizon Tasks from Human Demonstrations"

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Title
FADConv: A Frequency-Aware Dynamic Convolution for Farmland Non-agriculturalization Identification and Segmentation Tan Shu Li Shen 46 0 0 04 Apr 2025
Sim-and-Real Co-Training: A Simple Recipe for Vision-Based Robotic Manipulation Abhiram Maddukuri Z. L. Jiang L. Chen Soroush Nasiriany Yuqi Xie ... Scott Reed Ken Goldberg Ajay Mandlekar Linxi Fan Yuke Zhu 59 6 0 31 Mar 2025
GraspCorrect: Robotic Grasp Correction via Vision-Language Model-Guided Feedback Sungjae Lee Yeonjoo Hong Kwang In KIm 48 0 0 19 Mar 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
Temporal Representation Alignment: Successor Features Enable Emergent Compositionality in Robot Instruction Following Vivek Myers Bill Chunyuan Zheng Anca Dragan Kuan Fang Sergey Levine 65 0 0 08 Feb 2025
DexMimicGen: Automated Data Generation for Bimanual Dexterous Manipulation via Imitation Learning Zhenyu Jiang Yuqi Xie K. Lin Zhenjia Xu Weikang Wan Ajay Mandlekar Linxi Fan Yuke Zhu 56 25 0 31 Oct 2024
DeformPAM: Data-Efficient Learning for Long-horizon Deformable Object Manipulation via Preference-based Action Alignment Wendi Chen Han Xue Fangyuan Zhou Yuan Fang Cewu Lu 41 1 0 15 Oct 2024
Generalized Robot Learning Framework Jiahuan Yan Zhouyang Hong Yu Zhao Yu Tian Yunxin Liu Travis Davies Luhui Hu 40 0 0 18 Sep 2024
BAKU: An Efficient Transformer for Multi-Task Policy Learning Siddhant Haldar Zhuoran Peng Lerrel Pinto OffRL 44 27 0 11 Jun 2024
Bidirectional Progressive Transformer for Interaction Intention Anticipation Zichen Zhang Hongcheng Luo Wei Zhai Yang Cao Yu Kang 27 5 0 09 May 2024
Logic Learning from Demonstrations for Multi-step Manipulation Tasks in Dynamic Environments Yan Zhang Teng Xue Amirreza Razmjoo Sylvain Calinon 34 2 0 24 Apr 2024
One-Shot Transfer of Long-Horizon Extrinsic Manipulation Through Contact Retargeting Albert Wu Ruocheng Wang Sirui Chen Clemens Eppner Chenxi Liu 37 3 0 11 Apr 2024
LHManip: A Dataset for Long-Horizon Language-Grounded Manipulation Tasks in Cluttered Tabletop Environments Federico Ceola Lorenzo Natale Niko Sünderhauf Krishan Rana LM&Ro 37 1 0 19 Dec 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
Learning to Discern: Imitating Heterogeneous Human Demonstrations with Preference and Representation Learning Sachit Kuhar Shuo Cheng Shivang Chopra Matthew Bronars Danfei Xu 43 9 0 22 Oct 2023
Universal Visual Decomposer: Long-Horizon Manipulation Made Easy Zichen Zhang Yunshuang Li Osbert Bastani Abhishek Gupta Dinesh Jayaraman Yecheng Jason Ma Luca Weihs 37 17 0 12 Oct 2023
Policy Representation via Diffusion Probability Model for Reinforcement Learning Long Yang Zhixiong Huang Fenghao Lei Yucun Zhong Yiming Yang Cong Fang Shiting Wen Binbin Zhou Zhouchen Lin DiffM 28 40 0 22 May 2023
Goal-Conditioned Imitation Learning using Score-based Diffusion Policies Moritz Reuss M. Li Xiaogang Jia Rudolf Lioutikov DiffM 39 156 0 05 Apr 2023
Learning Excavation of Rigid Objects with Offline Reinforcement Learning Shiyu Jin Zhixian Ye Liangjun Zhang OffRL 24 7 0 29 Mar 2023
MimicPlay: Long-Horizon Imitation Learning by Watching Human Play Chen Wang Linxi Fan Jiankai Sun Ruohan Zhang Li Fei-Fei Danfei Xu Yuke Zhu Anima Anandkumar 44 184 0 24 Feb 2023
PATO: Policy Assisted TeleOperation for Scalable Robot Data Collection Shivin Dass Karl Pertsch Hejia Zhang Youngwoon Lee Joseph J. Lim Stefanos Nikolaidis 53 14 0 09 Dec 2022
MoCoDA: Model-based Counterfactual Data Augmentation Silviu Pitis Elliot Creager Ajay Mandlekar Animesh Garg OffRL 48 33 0 20 Oct 2022
From Play to Policy: Conditional Behavior Generation from Uncurated Robot Data Zichen Jeff Cui Yibin Wang Nur Muhammad (Mahi) Shafiullah Lerrel Pinto LM&Ro VGen OffRL 27 89 0 18 Oct 2022
Latent Plans for Task-Agnostic Offline Reinforcement Learning Erick Rosete-Beas Oier Mees Gabriel Kalweit Joschka Boedecker Wolfram Burgard OffRL 33 81 0 19 Sep 2022
BITS: Bi-level Imitation for Traffic Simulation Danfei Xu Yuxiao Chen Boris Ivanovic Marco Pavone 34 80 0 26 Aug 2022
Learning Neuro-Symbolic Skills for Bilevel Planning Tom Silver Ashay Athalye J. Tenenbaum Tomas Lozano-Perez L. Kaelbling 37 59 0 21 Jun 2022
Temporal Logic Imitation: Learning Plan-Satisficing Motion Policies from Demonstrations Yanwei Wang Nadia Figueroa Shen Li Ankit J. Shah J. Shah 11 21 0 09 Jun 2022
Can Foundation Models Perform Zero-Shot Task Specification For Robot Manipulation? Yuchen Cui S. Niekum Abhi Gupta Vikash Kumar Aravind Rajeswaran LM&Ro 30 74 0 23 Apr 2022
Demonstration-Bootstrapped Autonomous Practicing via Multi-Task Reinforcement Learning Abhishek Gupta Corey Lynch Brandon Kinman Garrett Peake Sergey Levine Karol Hausman OffRL 19 17 0 29 Mar 2022
End-to-end Reinforcement Learning of Robotic Manipulation with Robust Keypoints Representation Tianying Wang En Yen Puang Marcus Lee Yongpeng Wu Wei Jing SSL 33 5 0 12 Feb 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
Error-Aware Imitation Learning from Teleoperation Data for Mobile Manipulation J. Wong Albert Tung Andrey Kurenkov Ajay Mandlekar Li Fei-Fei Silvio Savarese Roberto Martín-Martín 26 54 0 09 Dec 2021
Understanding Domain Randomization for Sim-to-real Transfer Xiaoyu Chen Jiachen Hu Chi Jin Lihong Li Liwei Wang 24 112 0 07 Oct 2021
Bottom-Up Skill Discovery from Unsegmented Demonstrations for Long-Horizon Robot Manipulation Yifeng Zhu Peter Stone Yuke Zhu 45 61 0 28 Sep 2021
A Workflow for Offline Model-Free Robotic Reinforcement Learning Aviral Kumar Anika Singh Stephen Tian Chelsea Finn Sergey Levine OffRL 143 85 0 22 Sep 2021
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
Learning Composable Behavior Embeddings for Long-horizon Visual Navigation Xiangyun Meng Yu Xiang Dieter Fox 24 3 0 19 Feb 2021
COG: Connecting New Skills to Past Experience with Offline Reinforcement Learning Avi Singh Albert Yu Jonathan Yang Jesse Zhang Aviral Kumar Sergey Levine SSL OffRL OnRL 35 103 0 27 Oct 2020