What Matters in Learning from Offline Human Demonstrations for Robot Manipulation

6 August 2021

Li Fei-Fei

Silvio Savarese

Yuke Zhu

Roberto Martín-Martín

OffRL

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Papers citing "What Matters in Learning from Offline Human Demonstrations for Robot Manipulation"

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Title
UniSkill: Imitating Human Videos via Cross-Embodiment Skill Representations Hanjung Kim Jaehyun Kang Hyolim Kang Meedeum Cho Seon Joo Kim Youngwoon Lee 34 0 0 13 May 2025
Adaptive Diffusion Policy Optimization for Robotic Manipulation Huiyun Jiang Zhuang Yang 29 0 0 13 May 2025
What Matters for Batch Online Reinforcement Learning in Robotics? Perry Dong Suvir Mirchandani Dorsa Sadigh Chelsea Finn OffRL 28 0 0 12 May 2025
DexWild: Dexterous Human Interactions for In-the-Wild Robot Policies Tony Tao M. K. Srirama Jason Jingzhou Liu Kenneth Shaw Deepak Pathak 31 0 0 12 May 2025
Diffusion Models are Secretly Exchangeable: Parallelizing DDPMs via Autospeculation Hengyuan Hu Aniket Das Dorsa Sadigh Nima Anari DiffM 26 0 0 06 May 2025
Fast Flow-based Visuomotor Policies via Conditional Optimal Transport Couplings Andreas Sochopoulos Nikolay Malkin Nikolaos Tsagkas João Moura Michael Gienger S. Vijayakumar 47 1 0 02 May 2025
J-PARSE: Jacobian-based Projection Algorithm for Resolving Singularities Effectively in Inverse Kinematic Control of Serial Manipulators Shivani Guptasarma Matthew Strong HongHao Zhen Monroe Kennedy III 31 0 0 01 May 2025
RoboGround: Robotic Manipulation with Grounded Vision-Language Priors Haifeng Huang Xinyi Chen Y. Chen H. Li Xiaoshen Han Z. Wang Tai Wang Jiangmiao Pang Zhou Zhao LM&Ro 80 0 0 30 Apr 2025
PRISM-DP: Spatial Pose-based Observations for Diffusion-Policies via Segmentation, Mesh Generation, and Pose Tracking Xiatao Sun Yinxing Chen Daniel Rakita VGen 58 0 0 29 Apr 2025
Robot Motion Planning using One-Step Diffusion with Noise-Optimized Approximate Motions Tomoharu Aizu Takeru Oba Yuki Kondo Norimichi Ukita DiffM 75 0 0 28 Apr 2025
RoboVerse: Towards a Unified Platform, Dataset and Benchmark for Scalable and Generalizable Robot Learning Haoran Geng Feishi Wang Songlin Wei Y. Li Bangjun Wang ... Hao Dong Siyuan Huang Yue Wang Jitendra Malik Pieter Abbeel 85 4 0 26 Apr 2025
Offline Learning of Controllable Diverse Behaviors Mathieu Petitbois Rémy Portelas Sylvain Lamprier Ludovic Denoyer OffRL 36 0 0 25 Apr 2025
DiffOG: Differentiable Policy Trajectory Optimization with Generalizability Zhengtong Xu Zichen Miao Qiang Qiu Zhe Zhang Yu She 55 0 0 18 Apr 2025
Unified World Models: Coupling Video and Action Diffusion for Pretraining on Large Robotic Datasets Chuning Zhu Raymond Yu S. Feng Benjamin Burchfiel Paarth Shah Abhishek Gupta VGen 57 0 0 03 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 5 0 31 Mar 2025
GR00T N1: An Open Foundation Model for Generalist Humanoid Robots Nvidia Johan Bjorck Fernando Castañeda Nikita Cherniadev Xingye Da ... Ao Zhang Hao Zhang Yizhou Zhao Ruijie Zheng Yuke Zhu VLM 68 22 0 18 Mar 2025
Is Your Imitation Learning Policy Better than Mine? Policy Comparison with Near-Optimal Stopping David Snyder Asher Hancock Apurva Badithela Emma Dixon Patrick "Tree" Miller Rares Ambrus Anirudha Majumdar Masha Itkina Haruki Nishimura OffRL 82 1 0 14 Mar 2025
Can We Detect Failures Without Failure Data? Uncertainty-Aware Runtime Failure Detection for Imitation Learning Policies Chen Xu Tony Nguyen Emma Dixon Christopher Rodriguez Patrick "Tree" Miller Robert Lee Paarth Shah Rares Ambrus Haruki Nishimura Masha Itkina OffRL 89 2 0 11 Mar 2025
Action Tokenizer Matters in In-Context Imitation Learning An Vuong M. Vu Dong An Ian Reid 56 1 0 03 Mar 2025
Unified Video Action Model Shuang Li Yihuai Gao Dorsa Sadigh Shuran Song VGen 48 1 0 28 Feb 2025
Score-Based Diffusion Policy Compatible with Reinforcement Learning via Optimal Transport Mingyang Sun Pengxiang Ding Weinan Zhang Donglin Wang OT 83 0 0 24 Feb 2025
FACTR: Force-Attending Curriculum Training for Contact-Rich Policy Learning Jason Jingzhou Liu Yulong Li Kenneth Shaw Tony Tao Ruslan Salakhutdinov Deepak Pathak OffRL 62 1 0 24 Feb 2025
View-Invariant Policy Learning via Zero-Shot Novel View Synthesis Stephen Tian Blake Wulfe Kyle Sargent Katherine Liu Sergey Zakharov Vitor Campagnolo Guizilini Jiajun Wu 82 10 0 21 Feb 2025
Towards Fusing Point Cloud and Visual Representations for Imitation Learning Atalay Donat Xiaogang Jia Xi Huang Aleksandar Taranovic Denis Blessing Ge Li Hongyi Zhou Hanyi Zhang Rudolf Lioutikov Gerhard Neumann 3DPC SSL 70 1 0 20 Feb 2025
X-IL: Exploring the Design Space of Imitation Learning Policies Xiaogang Jia Atalay Donat Xi Huang Xuan Zhao Denis Blessing ... Han A. Wang Hanyi Zhang Qian Wang Rudolf Lioutikov Gerhard Neumann 88 1 0 20 Feb 2025
LEGATO: Cross-Embodiment Imitation Using a Grasping Tool Mingyo Seo H. Andy Park Shenli Yuan Yuke Zhu Luis Sentis 70 5 0 20 Feb 2025
IMLE Policy: Fast and Sample Efficient Visuomotor Policy Learning via Implicit Maximum Likelihood Estimation Krishan Rana Robert Lee David Pershouse Niko Suenderhauf VGen 51 0 0 17 Feb 2025
Learning Strategy Representation for Imitation Learning in Multi-Agent Games Shiqi Lei Kanghon Lee Linjing Li Jinkyoo Park OffRL 42 0 0 17 Feb 2025
HAMSTER: Hierarchical Action Models For Open-World Robot Manipulation Yi Li Yuquan Deng J. Zhang Joel Jang Marius Memme ... Fabio Ramos Dieter Fox Anqi Li Abhishek Gupta Ankit Goyal LM&Ro 99 8 0 08 Feb 2025
How vulnerable is my policy? Adversarial attacks on modern behavior cloning policies Basavasagar Patil Akansha Kalra Guanhong Tao Daniel S. Brown AAML 74 0 0 06 Feb 2025
VILP: Imitation Learning with Latent Video Planning Zhengtong Xu Qiang Qiu Yu She VGen 72 1 0 03 Feb 2025
Multimodal and Force-Matched Imitation Learning with a See-Through Visuotactile Sensor Trevor Ablett Oliver Limoyo Adam Sigal Affan Jilani Jonathan Kelly Kaleem Siddiqi F. Hogan Gregory Dudek 59 4 0 28 Jan 2025
Local Flow Matching Generative Models Chen Xu Xiuyuan Cheng Yao Xie 44 0 0 03 Jan 2025
Perception Stitching: Zero-Shot Perception Encoder Transfer for Visuomotor Robot Policies Pingcheng Jian Easop Lee Zachary I. Bell Michael M. Zavlanos Boyuan Chen 72 1 0 03 Jan 2025
Consistency Matters: Defining Demonstration Data Quality Metrics in Robot Learning from Demonstration Maram Sakr H. F. M. V. D. Loos Dana Kulić Elizabeth A. Croft 78 0 0 18 Dec 2024
Fast and Robust Visuomotor Riemannian Flow Matching Policy Haoran Ding Noémie Jaquier Jan Peters Leonel Rozo 86 2 0 14 Dec 2024
ManiSkill-HAB: A Benchmark for Low-Level Manipulation in Home Rearrangement Tasks Arth Shukla Stone Tao Hao Su 91 6 0 09 Dec 2024
ET-SEED: Efficient Trajectory-Level SE(3) Equivariant Diffusion Policy Chenrui Tie Yue Chen Ruihai Wu Boxuan Dong Z. Li Chongkai Gao Hao Dong 51 3 0 06 Nov 2024
Out-of-Distribution Recovery with Object-Centric Keypoint Inverse Policy for Visuomotor Imitation Learning George Jiayuan Gao Tianyu Li Nadia Figueroa 38 0 0 05 Nov 2024
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 53 24 0 31 Oct 2024
Local Policies Enable Zero-shot Long-horizon Manipulation Murtaza Dalal Min Liu Walter Talbott Chen Chen Deepak Pathak Jian Zhang Ruslan Salakhutdinov 38 3 0 29 Oct 2024
MILES: Making Imitation Learning Easy with Self-Supervision Georgios Papagiannis Edward Johns VLM SSL 45 5 0 25 Oct 2024
On-Robot Reinforcement Learning with Goal-Contrastive Rewards Ondrej Biza Thomas Weng Lingfeng Sun Karl Schmeckpeper Tarik Kelestemur Yecheng Jason Ma Robert C. Platt Jan Willem van de Meent Lawson L. S. Wong OffRL 43 0 0 25 Oct 2024
Diff-DAgger: Uncertainty Estimation with Diffusion Policy for Robotic Manipulation Sung-Wook Lee Yen-Ling Kuo Yen-Ling Kuo 21 4 0 18 Oct 2024
The State of Robot Motion Generation Kostas E. Bekris Joe Doerr Patrick Meng Sumanth Tangirala 3DV 36 2 0 16 Oct 2024
Learning the Generalizable Manipulation Skills on Soft-body Tasks via Guided Self-attention Behavior Cloning Policy XueTao Li Fang Gao Jun Yu Shaodong Li Feng Shuang LM&Ro 23 0 0 08 Oct 2024
Control-oriented Clustering of Visual Latent Representation Han Qi Haocheng Yin Heng Yang SSL 50 2 0 07 Oct 2024
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 28 7 0 06 Oct 2024
Effective Tuning Strategies for Generalist Robot Manipulation Policies Wenbo Zhang Yang Li Yanyuan Qiao Siyuan Huang Jiajun Liu Feras Dayoub Xiao Ma Lingqiao Liu 21 0 0 02 Oct 2024
Towards Effective Utilization of Mixed-Quality Demonstrations in Robotic Manipulation via Segment-Level Selection and Optimization Jingjing Chen Hongjie Fang Hao-Shu Fang Cewu Lu 38 2 0 30 Sep 2024