Title
Robust Model-Based In-Hand Manipulation with Integrated Real-Time Motion-Contact Planning and Tracking Yongpeng Jiang Mingrui Yu Xinghao Zhu M. Tomizuka Xiang-Yang Li 49 0 0 08 May 2025
Dexterous Contact-Rich Manipulation via the Contact Trust Region H. Suh Tao Pang Tong Zhao Russ Tedrake 36 4 0 04 May 2025
PRISM: Projection-based Reward Integration for Scene-Aware Real-to-Sim-to-Real Transfer with Few Demonstrations Haowen Sun Haoran Wang Chengzhong Ma Shaolong Zhang Jiawei Ye Xingyu Chen Xuguang Lan OffRL 53 1 0 29 Apr 2025
RUKA: Rethinking the Design of Humanoid Hands with Learning Anya Zorin Irmak Güzey Billy Yan Aadhithya Iyer Lisa Kondrich Nikhil X. Bhattasali Lerrel Pinto 46 0 0 17 Apr 2025
ViTa-Zero: Zero-shot Visuotactile Object 6D Pose Estimation Hongyu Li James Akl Srinath Sridhar Tye Brady Taskin Padir 44 0 0 17 Apr 2025
Neural Fidelity Calibration for Informative Sim-to-Real Adaptation Youwei Yu Lantao Liu 35 0 0 11 Apr 2025
ORCA: An Open-Source, Reliable, Cost-Effective, Anthropomorphic Robotic Hand for Uninterrupted Dexterous Task Learning Clemens C. Christoph Maximilian Eberlein Filippos Katsimalis Arturo Roberti Aristotelis Sympetheros ... Davide Liconti Chenyu Yang Barnabas Gavin Cangan R. Hinchet Robert K. Katzschmann 29 2 0 05 Apr 2025
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 5 0 31 Mar 2025
ManipTrans: Efficient Dexterous Bimanual Manipulation Transfer via Residual Learning Kailin Li Puhao Li Tengyu Liu Yuyang Li Siyuan Huang 48 3 0 27 Mar 2025
Visuo-Tactile Object Pose Estimation for a Multi-Finger Robot Hand with Low-Resolution In-Hand Tactile Sensing Lukas Mack Felix Grüninger Benjamin A. Richardson Regine Lendway Katherine J. Kuchenbecker Joerg Stueckler 34 0 0 25 Mar 2025
Learning to Play Piano in the Real World Yves-Simon Zeulner Sandeep Selvaraj Roberto Calandra 49 0 0 19 Mar 2025
Subtask-Aware Visual Reward Learning from Segmented Demonstrations Changyeon Kim Minho Heo Doohyun Lee Jinwoo Shin Honglak Lee Joseph J. Lim Kimin Lee 42 1 0 28 Feb 2025
Accelerating Model-Based Reinforcement Learning with State-Space World Models Maria Krinner Elie Aljalbout Angel Romero Davide Scaramuzza OffRL 74 1 0 27 Feb 2025
Sim-to-Real Reinforcement Learning for Vision-Based Dexterous Manipulation on Humanoids Toru Lin Kartik Sachdev Linxi Fan Jitendra Malik Yuke Zhu 44 7 0 27 Feb 2025
Design of a low-cost and lightweight 6 DoF bimanual arm for dynamic and contact-rich manipulation Jaehyung Kim Jiho Kim Dongryung Lee Yujin Jang Beomjoon Kim 48 0 0 24 Feb 2025
Infinite-Horizon Value Function Approximation for Model Predictive Control Armand Jordana Sébastien Kleff Arthur Haffemayer Joaquim Ortiz de Haro Justin Carpentier Nicolas Mansard Ludovic Righetti 41 0 0 10 Feb 2025
HAMSTER: Hierarchical Action Models For Open-World Robot Manipulation Yi Li Yuquan Deng Jingyang Zhang Joel Jang Marius Memme ... Fabio Ramos Dieter Fox Anqi Li Abhishek Gupta Ankit Goyal LM&Ro 99 9 0 08 Feb 2025
Dexterous Cable Manipulation: Taxonomy, Multi-Fingered Hand Design, and Long-Horizon Manipulation Sun Zhaole Xiao Gao Xiaofeng Mao Jihong Zhu A. Billard Robert B. Fisher 54 0 0 01 Feb 2025
Planning-Guided Diffusion Policy Learning for Generalizable Contact-Rich Bimanual Manipulation Xuanlin Li Tong Zhao Xinghao Zhu Jiuguang Wang Tao Pang Kuan Fang 85 4 0 03 Dec 2024
DextrAH-RGB: Visuomotor Policies to Grasp Anything with Dexterous Hands Ritvik Singh Arthur Allshire Ankur Handa Nathan D. Ratliff Karl Van Wyk 76 8 0 27 Nov 2024
Learning Time-Optimal and Speed-Adjustable Tactile In-Hand Manipulation Johannes Pitz Lennart Röstel Leon Sievers Berthold Bäuml 64 0 0 20 Nov 2024
Sampling-Based Model Predictive Control for Dexterous Manipulation on a Biomimetic Tendon-Driven Hand Adrian Hess Alexander M. Kübler Benedek Forrai Mehmet Dogar Robert K. Katzschmann 28 1 0 09 Nov 2024
Bridging the Human to Robot Dexterity Gap through Object-Oriented Rewards Irmak Güzey Yinlong Dai Georgy Savva Raunaq M. Bhirangi Lerrel Pinto 43 7 0 30 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
Synthetica: Large Scale Synthetic Data for Robot Perception Ritvik Singh Jingzhou Liu Karl Van Wyk Yu-Wei Chao Jean-Francois Lafleche Florian Shkurti Nathan D. Ratliff Ankur Handa 25 1 0 28 Oct 2024
SPIRE: Synergistic Planning, Imitation, and Reinforcement Learning for Long-Horizon Manipulation Zihan Zhou Animesh Garg Dieter Fox Caelan Reed Garrett Ajay Mandlekar 37 2 0 23 Oct 2024
Guided Reinforcement Learning for Robust Multi-Contact Loco-Manipulation Jean-Pierre Sleiman Mayank Mittal Marco Hutter 32 4 0 17 Oct 2024
Automated Creation of Digital Cousins for Robust Policy Learning Tianyuan Dai Josiah Wong Yunfan Jiang Chen Wang Cem Gokmen Ruohan Zhang Jiajun Wu Li Fei-Fei 31 22 0 09 Oct 2024
On the Feasibility of A Mixed-Method Approach for Solving Long Horizon Task-Oriented Dexterous Manipulation Shaunak A. Mehta Rana Soltani Zarrin 31 0 0 09 Oct 2024
GenSim2: Scaling Robot Data Generation with Multi-modal and Reasoning LLMs Pu Hua Minghuan Liu Annabella Macaluso Yunfeng Lin Weinan Zhang Huazhe Xu Lirui Wang LM&Ro LRM 34 14 0 04 Oct 2024
MLLM as Retriever: Interactively Learning Multimodal Retrieval for Embodied Agents Junpeng Yue Xinru Xu Börje F. Karlsson Zongqing Lu 39 0 0 04 Oct 2024
Learning Diverse Bimanual Dexterous Manipulation Skills from Human Demonstrations Bohan Zhou Haoqi Yuan Yuhui Fu Zongqing Lu 34 11 0 03 Oct 2024
ManiSkill3: GPU Parallelized Robotics Simulation and Rendering for Generalizable Embodied AI Stone Tao Fanbo Xiang Arth Shukla Yuzhe Qin Xander Hinrichsen ... Zhiao Huang Roberto Calandra Rui Chen Shan Luo Hao Su 21 27 0 01 Oct 2024
MoDex: Planning High-Dimensional Dexterous Control via Learning Neural Internal Models Tong Wu Shoujie Li Chuqiao Lyu Kit-Wa Sou Wang Sing Chan Wenbo Ding 35 0 0 17 Sep 2024
SplatSim: Zero-Shot Sim2Real Transfer of RGB Manipulation Policies Using Gaussian Splatting M. N. Qureshi Sparsh Garg Francisco Yandún David Held George Kantor Abhisesh Silwal 3DGS 42 15 0 16 Sep 2024
Hand-Object Interaction Pretraining from Videos Himanshu Gaurav Singh Antonio Loquercio Carmelo Sferrazza Jane Wu Haozhi Qi Pieter Abbeel Jitendra Malik 44 13 0 12 Sep 2024
DemoStart: Demonstration-led auto-curriculum applied to sim-to-real with multi-fingered robots Maria Bauzá José Enrique Chen Valentin Dalibard Nimrod Gileadi Roland Hafner ... Martin Riedmiller Jon Scholz Konstantinos Bousmalis Francesco Nori Nicolas Heess 32 5 0 10 Sep 2024
Semantically Controllable Augmentations for Generalizable Robot Learning Zoey Chen Zhao Mandi Homanga Bharadhwaj Mohit Sharma Shuran Song Abhishek Gupta Vikash Kumar LM&Ro 31 5 0 02 Sep 2024
Benchmarking Reinforcement Learning Methods for Dexterous Robotic Manipulation with a Three-Fingered Gripper Elizabeth Cutler Yuning Xing Tony Cui Brendan Zhou Koen van Rijnsoever ... David Valencia Lee Violet C. Ong Trevor Gee Minas V. Liarokapis Henry Williams OffRL 27 0 0 27 Aug 2024
FORGE: Force-Guided Exploration for Robust Contact-Rich Manipulation under Uncertainty Michael Noseworthy Bingjie Tang Bowen Wen Ankur Handa Nicholas Roy Nicholas Roy Dieter Fox Yashraj S. Narang Iretiayo Akinola Iretiayo Akinola 51 8 0 08 Aug 2024
Everyday Finger: A Robotic Finger that Meets the Needs of Everyday Interactive Manipulation Rubén Castro Ornelas Tomás Cantú Isabel Sperandio Alexander H. Slocum Pulkit Agrawal 28 0 0 08 Aug 2024
SAPG: Split and Aggregate Policy Gradients Jayesh Singla Ananye Agarwal Deepak Pathak OffRL OnRL 32 3 0 29 Jul 2024
Lessons from Learning to Spin "Pens" Jun Wang Ying Yuan Haichuan Che Haozhi Qi Yi Ma Jitendra Malik Xiaolong Wang 57 14 0 26 Jul 2024
Learning a Shape-Conditioned Agent for Purely Tactile In-Hand Manipulation of Various Objects Johannes Pitz Lennart Röstel Leon Sievers Darius Burschka Berthold Bäuml 27 3 0 26 Jul 2024
Automatic Environment Shaping is the Next Frontier in RL Younghyo Park G. Margolis Pulkit Agrawal OffRL 37 3 0 23 Jul 2024
Learning to Manipulate Anywhere: A Visual Generalizable Framework For Reinforcement Learning Zhecheng Yuan Tianming Wei Shuiqi Cheng Gu Zhang Yuanpei Chen Huazhe Xu 51 22 0 22 Jul 2024
APriCoT: Action Primitives based on Contact-state Transition for In-Hand Tool Manipulation Daichi Saito Atsushi Kanehira Kazuhiro Sasabuchi Naoki Wake Jun Takamatsu Hideki Koike Katsushi Ikeuchi 40 0 0 16 Jul 2024
AutoMate: Specialist and Generalist Assembly Policies over Diverse Geometries Bingjie Tang Iretiayo Akinola Jie Xu Bowen Wen Ankur Handa Karl Van Wyk Dieter Fox Gaurav Sukhatme Fabio Ramos Yashraj S. Narang 41 13 0 10 Jul 2024
Learning In-Hand Translation Using Tactile Skin With Shear and Normal Force Sensing Jessica Yin Haozhi Qi Jitendra Malik James H. Pikul Mark H. Yim Tess Hellebrekers 41 4 0 10 Jul 2024