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Transformer-based deep imitation learning for dual-arm robot manipulation

1 August 2021

Papers citing "Transformer-based deep imitation learning for dual-arm robot manipulation"

41 / 41 papers shown

Title
From Experts to a Generalist: Toward General Whole-Body Control for Humanoid Robots Yuxuan Wang Ming Yang Weishuai Zeng Yu Zhang Xinrun Xu Haobin Jiang Ziluo Ding Zongqing Lu 34 0 0 15 Jun 2025
Variational Adaptive Noise and Dropout towards Stable Recurrent Neural Networks Taisuke Kobayashi Shingo Murata 52 0 0 02 Jun 2025
Cross-Embodiment Robotic Manipulation Synthesis via Guided Demonstrations through CycleVAE and Human Behavior Transformer Apan Dastider Hao Fang Mingjie Lin 65 0 0 11 Mar 2025
Perception Stitching: Zero-Shot Perception Encoder Transfer for Visuomotor Robot Policies Pingcheng Jian Easop Lee Zachary I. Bell Michael M. Zavlanos Boyuan Chen 187 1 0 03 Jan 2025
Bridging the Resource Gap: Deploying Advanced Imitation Learning Models onto Affordable Embedded Platforms Haizhou Ge Ruixiang Wang Zhu-ang Xu Hongrui Zhu Ruichen Deng Yuhang Dong Zeyu Pang Guyue Zhou Junyu Zhang Lu Shi 140 1 0 18 Nov 2024
DA-VIL: Adaptive Dual-Arm Manipulation with Reinforcement Learning and Variable Impedance Control Md Faizal Karim Shreya Bollimuntha Mohammed Saad Hashmi Autrio Das Gaurav Singh Srinath Sridhar A. K. Singh Nagamanikandan Govindan K. M. Krishna 67 3 0 25 Oct 2024
Towards Synergistic, Generalized, and Efficient Dual-System for Robotic Manipulation Qingwen Bu Hongyang Li Li Chen Jisong Cai Jia Zeng Heming Cui Maoqing Yao Yu Qiao 152 11 0 10 Oct 2024
Haptic-ACT: Bridging Human Intuition with Compliant Robotic Manipulation via Immersive VR Kelin Li Shubham M. Wagh Nitish Sharma Saksham Bhadani Wei Chen Chang Liu Petar Kormushev 78 2 0 18 Sep 2024
RVT-2: Learning Precise Manipulation from Few Demonstrations Ankit Goyal Valts Blukis Jie Xu Yijie Guo Yu-Wei Chao Dieter Fox 84 57 0 12 Jun 2024
Transformer-XL for Long Sequence Tasks in Robotic Learning from Demonstration Tianci Gao 79 0 0 24 May 2024
ScrewMimic: Bimanual Imitation from Human Videos with Screw Space Projection Arpit Bahety Priyanka Mandikal Ben Abbatematteo Roberto Martín-Martín 111 15 0 06 May 2024
APEX: Ambidextrous Dual-Arm Robotic Manipulation Using Collision-Free Generative Diffusion Models Apan Dastider Hao Fang Mingjie Lin 88 2 0 02 Apr 2024
ILBiT: Imitation Learning for Robot Using Position and Torque Information based on Bilateral Control with Transformer Masato Kobayashi Thanpimon Buamanee Yuki Uranishi Haruo Takemura 86 9 0 30 Jan 2024
Multi-task real-robot data with gaze attention for dual-arm fine manipulation Heecheol Kim Yoshiyuki Ohmura Yasuo Kuniyoshi 120 2 0 15 Jan 2024
Knolling Bot: Learning Robotic Object Arrangement from Tidy Demonstrations Yuhang Hu Zhizhuo Zhang Xinyue Zhu Ruibo Liu P. Wyder Hod Lipson LM&Ro SSL 66 0 0 06 Oct 2023
AirExo: Low-Cost Exoskeletons for Learning Whole-Arm Manipulation in the Wild Hongjie Fang Haoshu Fang Yiming Wang Jieji Ren Jing Chen Ruo Zhang Weiming Wang Cewu Lu 108 51 0 26 Sep 2023
On Combining Expert Demonstrations in Imitation Learning via Optimal Transport Ilana Sebag Samuel N. Cohen M. Deisenroth MoMe OT 104 0 0 20 Jul 2023
RVT: Robotic View Transformer for 3D Object Manipulation Ankit Goyal Jie Xu Yijie Guo Valts Blukis Yu-Wei Chao Dieter Fox LM&Ro 136 143 0 26 Jun 2023
R2-Diff: Denoising by diffusion as a refinement of retrieved motion for image-based motion prediction Takeru Oba Norimichi Ukita DiffM 78 2 0 15 Jun 2023
TransCODE: Co-design of Transformers and Accelerators for Efficient Training and Inference Shikhar Tuli N. Jha 103 6 0 27 Mar 2023
PLEX: Making the Most of the Available Data for Robotic Manipulation Pretraining G. Thomas Ching-An Cheng Ricky Loynd Felipe Vieira Frujeri Vibhav Vineet Mihai Jalobeanu Andrey Kolobov SSL 65 9 0 15 Mar 2023
Data-Driven Stochastic Motion Evaluation and Optimization with Image by Spatially-Aligned Temporal Encoding Takeru Oba Norimichi Ukita 87 3 0 10 Feb 2023
On Transforming Reinforcement Learning by Transformer: The Development Trajectory Shengchao Hu Li Shen Ya Zhang Yixin Chen Dacheng Tao OffRL 148 30 0 29 Dec 2022
Perceiver-Actor: A Multi-Task Transformer for Robotic Manipulation Mohit Shridhar Lucas Manuelli Dieter Fox LM&Ro 286 501 0 12 Sep 2022
Goal-conditioned dual-action imitation learning for dexterous dual-arm robot manipulation Heecheol Kim Yoshiyuki Ohmura Yasuo Kuniyoshi 87 28 0 18 Mar 2022
Training Robots without Robots: Deep Imitation Learning for Master-to-Robot Policy Transfer Heecheol Kim Yoshiyuki Ohmura Akihiko Nagakubo Yasuo Kuniyoshi 86 25 0 19 Feb 2022
Memory-based gaze prediction in deep imitation learning for robot manipulation Heecheol Kim Yoshiyuki Ohmura Yasuo Kuniyoshi 68 14 0 10 Feb 2022
Learning Generalizable Vision-Tactile Robotic Grasping Strategy for Deformable Objects via Transformer Yunhai Han Kelin Yu Rahul Batra Nathan Boyd Chaitanya Mehta T. Zhao Y. She S. Hutchinson Ye Zhao ViT 119 50 0 13 Dec 2021
Gaze-based dual resolution deep imitation learning for high-precision dexterous robot manipulation Heecheol Kim Yoshiyuki Ohmura Yasuo Kuniyoshi 116 25 0 02 Feb 2021
Taming Transformers for High-Resolution Image Synthesis Patrick Esser Robin Rombach Bjorn Ommer ViT 141 3,015 0 17 Dec 2020
Transformers for One-Shot Visual Imitation Sudeep Dasari Abhinav Gupta LM&Ro 94 95 0 11 Nov 2020
An Image is Worth 16x16 Words: Transformers for Image Recognition at Scale Alexey Dosovitskiy Lucas Beyer Alexander Kolesnikov Dirk Weissenborn Xiaohua Zhai ... Matthias Minderer G. Heigold Sylvain Gelly Jakob Uszkoreit N. Houlsby ViT 761 41,831 0 22 Oct 2020
Language Models are Few-Shot Learners Tom B. Brown Benjamin Mann Nick Ryder Melanie Subbiah Jared Kaplan ... Christopher Berner Sam McCandlish Alec Radford Ilya Sutskever Dario Amodei BDL 1.1K 42,687 0 28 May 2020
End-to-End Object Detection with Transformers Nicolas Carion Francisco Massa Gabriel Synnaeve Nicolas Usunier Alexander Kirillov Sergey Zagoruyko ViT 3DV PINN 500 13,217 0 26 May 2020
Quantifying Attention Flow in Transformers Samira Abnar Willem H. Zuidema 182 808 0 02 May 2020
On the Variance of the Adaptive Learning Rate and Beyond Liyuan Liu Haoming Jiang Pengcheng He Weizhu Chen Xiaodong Liu Jianfeng Gao Jiawei Han ODL 379 1,916 0 08 Aug 2019
BERT: Pre-training of Deep Bidirectional Transformers for Language Understanding Jacob Devlin Ming-Wei Chang Kenton Lee Kristina Toutanova VLM SSL SSeg 1.9K 95,554 0 11 Oct 2018
Deep Imitation Learning for Complex Manipulation Tasks from Virtual Reality Teleoperation Tianhao Zhang Zoe McCarthy Owen Jow Dennis Lee Xi Chen Ken Goldberg Pieter Abbeel SSL 156 662 0 12 Oct 2017
One Model To Learn Them All Lukasz Kaiser Aidan Gomez Noam M. Shazeer Ashish Vaswani Niki Parmar Llion Jones Jakob Uszkoreit VLM ViT 87 334 0 16 Jun 2017
Attention Is All You Need Ashish Vaswani Noam M. Shazeer Niki Parmar Jakob Uszkoreit Llion Jones Aidan Gomez Lukasz Kaiser Illia Polosukhin 3DV 976 133,279 0 12 Jun 2017
Network In Network Min Lin Qiang Chen Shuicheng Yan 320 6,292 0 16 Dec 2013