Title
Vegetable Peeling: A Case Study in Constrained Dexterous Manipulation Tao Chen Eric A. Cousineau Naveen Kuppuswamy Pulkit Agrawal 32 7 0 10 Jul 2024
DextrAH-G: Pixels-to-Action Dexterous Arm-Hand Grasping with Geometric Fabrics Tyler Ga Wei Lum Martin Matak Viktor Makoviychuk Ankur Handa Arthur Allshire Tucker Hermans Nathan D. Ratliff Karl Van Wyk 38 14 0 02 Jul 2024
Human-centered In-building Embodied Delivery Benchmark Zhuoqun Xu Yang Liu Xiaoqi Li Jiyao Zhang Hao Dong 42 0 0 25 Jun 2024
DrEureka: Language Model Guided Sim-To-Real Transfer Yecheng Jason Ma William Liang Hung-Ju Wang Sam Wang Yuke Zhu Linxi Fan Osbert Bastani Dinesh Jayaraman 77 43 0 04 Jun 2024
From Compliant to Rigid Contact Simulation: a Unified and Efficient Approach Justin Carpentier Louis Montaut Quentin Le Lidec 32 8 0 27 May 2024
TRANSIC: Sim-to-Real Policy Transfer by Learning from Online Correction Yunfan Jiang Chen Wang Ruohan Zhang Jiajun Wu Fei-Fei Li OnRL 37 26 0 16 May 2024
AnyRotate: Gravity-Invariant In-Hand Object Rotation with Sim-to-Real Touch Max Yang Chenghua Lu Alex Church Yijiong Lin Christopher J. Ford Haoran Li Efi Psomopoulou David A.W. Barton Nathan Lepora 60 15 0 12 May 2024
DexSkills: Skill Segmentation Using Haptic Data for Learning Autonomous Long-Horizon Robotic Manipulation Tasks Xiaofeng Mao G. Giudici Claudio Coppola K. Althoefer I. Farkhatdinov Zhibin Li Lorenzo Jamone 46 6 0 06 May 2024
Geometric Fabrics: a Safe Guiding Medium for Policy Learning Karl Van Wyk Ankur Handa Viktor Makoviychuk Yijie Guo Arthur Allshire Nathan D. Ratliff 29 5 0 03 May 2024
Plan-Seq-Learn: Language Model Guided RL for Solving Long Horizon Robotics Tasks Murtaza Dalal Tarun Chiruvolu Devendra Singh Chaplot Ruslan Salakhutdinov LM&Ro 36 39 0 02 May 2024
Sensorized Soft Skin for Dexterous Robotic Hands Jana Egli Benedek Forrai Thomas Buchner Jiangtao Su Xiaodong Chen Robert K. Katzschmann 22 2 0 30 Apr 2024
Point Cloud Models Improve Visual Robustness in Robotic Learners Skand Peri Iain Lee Chanho Kim Fuxin Li Tucker Hermans Stefan Lee 3DPC 46 3 0 29 Apr 2024
Learning Visuotactile Skills with Two Multifingered Hands Toru Lin Yu Zhang Qiyang Li Haozhi Qi Brent Yi Sergey Levine Jitendra Malik 42 52 0 25 Apr 2024
ORBIT-Surgical: An Open-Simulation Framework for Learning Surgical Augmented Dexterity Qinxi Yu Masoud Moghani K. Dharmarajan Vincent Schorp Will Panitch ... Kush Hari Huang Huang Mayank Mittal Ken Goldberg Animesh Garg 35 14 0 24 Apr 2024
ASID: Active Exploration for System Identification in Robotic Manipulation Marius Memmel Andrew Wagenmaker Chuning Zhu Patrick Yin Dieter Fox Abhishek Gupta 40 13 0 18 Apr 2024
Scaling Population-Based Reinforcement Learning with GPU Accelerated Simulation Asad Ali Shahid Yashraj S. Narang Vincenzo Petrone Enrico Ferrentino Ankur Handa Dieter Fox Marco Pavone L. Roveda 35 3 0 04 Apr 2024
Robust Pushing: Exploiting Quasi-static Belief Dynamics and Contact-informed Optimization Julius Jankowski Lara Brudermüller Nick Hawes Sylvain Calinon 29 3 0 03 Apr 2024
Task-priority Intermediated Hierarchical Distributed Policies: Reinforcement Learning of Adaptive Multi-robot Cooperative Transport Yusei Naito Tomohiko Jimbo Tadashi Odashima Takamitsu Matsubara 36 1 0 02 Apr 2024
DexCap: Scalable and Portable Mocap Data Collection System for Dexterous Manipulation Chen Wang Haochen Shi Weizhuo Wang Ruohan Zhang Fei-Fei Li Karen Liu 55 104 0 12 Mar 2024
3D Diffusion Policy: Generalizable Visuomotor Policy Learning via Simple 3D Representations Yanjie Ze Gu Zhang Kangning Zhang Chenyuan Hu Muhan Wang Huazhe Xu VGen 39 77 0 06 Mar 2024
Reconciling Reality through Simulation: A Real-to-Sim-to-Real Approach for Robust Manipulation M. Torné Anthony Simeonov Zechu Li April Chan Tao Chen Abhishek Gupta Pulkit Agrawal 44 57 0 06 Mar 2024
Twisting Lids Off with Two Hands Toru Lin Zhao-Heng Yin Haozhi Qi Pieter Abbeel Jitendra Malik 40 24 0 04 Mar 2024
TEXterity -- Tactile Extrinsic deXterity: Simultaneous Tactile Estimation and Control for Extrinsic Dexterity Sangwoon Kim Antonia Bronars P. Patre Alberto Rodriguez 37 9 0 29 Feb 2024
CyberDemo: Augmenting Simulated Human Demonstration for Real-World Dexterous Manipulation Jun Wang Yuzhe Qin Kaiming Kuang Yigit Korkmaz Akhilan Gurumoorthy Hao Su Xiaolong Wang 43 19 0 22 Feb 2024
Real-World Fluid Directed Rigid Body Control via Deep Reinforcement Learning Mohak Bhardwaj Thomas Lampe Michael Neunert Francesco Romano A. Abdolmaleki Arunkumar Byravan Markus Wulfmeier Martin Riedmiller J. Buchli AI4CE 25 1 0 08 Feb 2024
DexTouch: Learning to Seek and Manipulate Objects with Tactile Dexterity Kang-Won Lee Yuzhe Qin Xiaolong Wang Soo-Chul Lim 16 3 0 23 Jan 2024
TEXterity: Tactile Extrinsic deXterity Antonia Bronars Sangwoon Kim P. Patre Alberto Rodriguez 30 6 0 18 Jan 2024
DexDLO: Learning Goal-Conditioned Dexterous Policy for Dynamic Manipulation of Deformable Linear Objects Zhaole Sun Jihong Zhu Robert B. Fisher 33 7 0 23 Dec 2023
Neural feels with neural fields: Visuo-tactile perception for in-hand manipulation Sudharshan Suresh Haozhi Qi Tingfan Wu Taosha Fan Luis Villaseñor-Pineda ... Mrinal Kalakrishnan Roberto Calandra Michael Kaess Joseph Ortiz Mustafa Mukadam 29 29 0 20 Dec 2023
Rapid Motor Adaptation for Robotic Manipulator Arms Yichao Liang Kevin Ellis Joao Henriques 27 4 0 07 Dec 2023
On the Role of the Action Space in Robot Manipulation Learning and Sim-to-Real Transfer Elie Aljalbout Felix Frank Maximilian Karl Patrick van der Smagt 14 20 0 06 Dec 2023
Dexterous Functional Grasping Ananye Agarwal Shagun Uppal Kenneth Shaw Deepak Pathak 33 34 0 05 Dec 2023
Robot Synesthesia: In-Hand Manipulation with Visuotactile Sensing Ying Yuan Haichuan Che Yuzhe Qin Binghao Huang Zhao-Heng Yin Kang-Won Lee Yi Wu Soo-Chul Lim Xiaolong Wang 45 40 0 04 Dec 2023
Agent as Cerebrum, Controller as Cerebellum: Implementing an Embodied LMM-based Agent on Drones Haoran Zhao Fengxing Pan Huqiuyue Ping Yaoming Zhou AI4CE 42 12 0 25 Nov 2023
Bridging the Sim-to-Real Gap with Dynamic Compliance Tuning for Industrial Insertion Xiang Zhang Masayoshi Tomizuka Hui Li 42 12 0 13 Nov 2023
Estimator-Coupled Reinforcement Learning for Robust Purely Tactile In-Hand Manipulation Lennart Röstel Johannes Pitz Leon Sievers Berthold Bäuml 40 10 0 07 Nov 2023
Autonomous Robotic Reinforcement Learning with Asynchronous Human Feedback Max Balsells M. Torné Zihan Wang Samedh Desai Pulkit Agrawal Abhishek Gupta 42 10 0 31 Oct 2023
MimicGen: A Data Generation System for Scalable Robot Learning using Human Demonstrations Ajay Mandlekar Soroush Nasiriany Bowen Wen Iretiayo Akinola Yashraj S. Narang Linxi Fan Yuke Zhu Dieter Fox LM&Ro 90 100 0 26 Oct 2023
Eureka: Human-Level Reward Design via Coding Large Language Models Yecheng Jason Ma William Liang Guanzhi Wang De-An Huang Osbert Bastani Dinesh Jayaraman Yuke Zhu Linxi Fan A. Anandkumar 24 293 0 19 Oct 2023
MoDem-V2: Visuo-Motor World Models for Real-World Robot Manipulation Patrick E. Lancaster Nicklas Hansen Aravind Rajeswaran Vikash Kumar LM&Ro 25 14 0 25 Sep 2023
See to Touch: Learning Tactile Dexterity through Visual Incentives Irmak Güzey Yinlong Dai Ben Evans Soumith Chintala Lerrel Pinto 23 30 0 21 Sep 2023
General In-Hand Object Rotation with Vision and Touch Haozhi Qi Brent Yi Sudharshan Suresh Mike Lambeta Y. Ma Roberto Calandra Jitendra Malik 58 81 0 18 Sep 2023
LEAP Hand: Low-Cost, Efficient, and Anthropomorphic Hand for Robot Learning Kenneth Shaw Ananye Agarwal Deepak Pathak 27 80 0 12 Sep 2023
Dynamic Handover: Throw and Catch with Bimanual Hands Binghao Huang Yuanpei Chen Tianyu Wang Yuzhe Qin Yaodong Yang Nikolay Atanasov Xiaolong Wang 15 15 0 11 Sep 2023
Pre- and post-contact policy decomposition for non-prehensile manipulation with zero-shot sim-to-real transfer Minchan Kim Junhyek Han Jaehyung Kim Beomjoon Kim 27 17 0 06 Sep 2023
RoboAgent: Generalization and Efficiency in Robot Manipulation via Semantic Augmentations and Action Chunking Homanga Bharadhwaj Jay Vakil Mohit Sharma Abhi Gupta Shubham Tulsiani Vikash Kumar LM&Ro 21 116 0 05 Sep 2023
Sequential Dexterity: Chaining Dexterous Policies for Long-Horizon Manipulation Yuanpei Chen Chen Wang Fei-Fei Li C. Karen Liu 9 40 0 02 Sep 2023
Inter-finger Small Object Manipulation with DenseTact Optical Tactile Sensor Won Kyung Do Bianca Aumann Camille Chungyoun Monroe Kennedy 24 7 0 31 Aug 2023
In-Hand Cube Reconfiguration: Simplified Sumit Patidar Adrian Sieler Oliver Brock 26 2 0 23 Aug 2023
Getting the Ball Rolling: Learning a Dexterous Policy for a Biomimetic Tendon-Driven Hand with Rolling Contact Joints Yasunori Toshimitsu Benedek Forrai Barnabas Gavin Cangan U. Steger Manuel Knecht Stefan Weirich Robert K. Katzschmann 26 20 0 04 Aug 2023