Pre- and post-contact policy decomposition for non-prehensile manipulation with zero-shot sim-to-real transfer

6 September 2023

Papers citing "Pre- and post-contact policy decomposition for non-prehensile manipulation with zero-shot sim-to-real transfer"

26 / 26 papers shown

Title
RDT-1B: a Diffusion Foundation Model for Bimanual Manipulation Songming Liu Lingxuan Wu Bangguo Li Hengkai Tan Huayu Chen Zhengyi Wang Ke Xu Hang Su Jun Zhu 125 122 0 10 Oct 2024
Learning to Grasp the Ungraspable with Emergent Extrinsic Dexterity Wen-Min Zhou David Held OffRL 52 61 0 02 Nov 2022
DeXtreme: Transfer of Agile In-hand Manipulation from Simulation to Reality Ankur Handa Arthur Allshire Viktor Makoviychuk Aleksei Petrenko Ritvik Singh ... Balakumar Sundaralingam Yashraj S. Narang Jean-Francois Lafleche Dieter Fox Gavriel State 86 156 0 25 Oct 2022
VIMA: General Robot Manipulation with Multimodal Prompts Yunfan Jiang Agrim Gupta Zichen Zhang Guanzhi Wang Yongqiang Dou Yanjun Chen Li Fei-Fei Anima Anandkumar Yuke Zhu Linxi Fan LM&Ro 105 355 0 06 Oct 2022
Learning Preconditions of Hybrid Force-Velocity Controllers for Contact-Rich Manipulation Jacky Liang Xianyi Cheng Oliver Kroemer 56 9 0 25 Jun 2022
A System for General In-Hand Object Re-Orientation Tao Chen Jie Xu Pulkit Agrawal 114 257 0 04 Nov 2021
Non-prehensile Planar Manipulation via Trajectory Optimization with Complementarity Constraints João Moura Theodoros Stouraitis S. Vijayakumar 113 46 0 27 Sep 2021
Isaac Gym: High Performance GPU-Based Physics Simulation For Robot Learning Viktor Makoviychuk Lukasz Wawrzyniak Yunrong Guo Michelle Lu Kier Storey ... David Hoeller Nikita Rudin Arthur Allshire Ankur Handa Gavriel State 180 1,087 0 24 Aug 2021
Transferring Dexterous Manipulation from GPU Simulation to a Remote Real-World TriFinger Arthur Allshire Mayank Mittal Varun Lodaya Viktor Makoviychuk Denys Makoviichuk Felix Widmaier Manuel Wüthrich Stefan Bauer Ankur Handa Animesh Garg 95 72 0 22 Aug 2021
Contact Mode Guided Motion Planning for Quasidynamic Dexterous Manipulation in 3D Xianyi Cheng Eric Huang Yifan Hou M. T. Mason 139 50 0 30 May 2021
Learning Quadrupedal Locomotion over Challenging Terrain Joonho Lee Jemin Hwangbo Lorenz Wellhausen V. Koltun Marco Hutter 145 1,176 0 21 Oct 2020
Integrated Task and Motion Planning Caelan Reed Garrett Rohan Chitnis Rachel Holladay Beomjoon Kim Tom Silver L. Kaelbling Tomás Lozano-Pérez 100 502 0 02 Oct 2020
S3K: Self-Supervised Semantic Keypoints for Robotic Manipulation via Multi-View Consistency Mel Vecerík Jean-Baptiste Regli Oleg O. Sushkov David Barker Rugile Pevceviciute Thomas Rothörl C. Schuster R. Hadsell Lourdes Agapito Jonathan Scholz 3DPC 69 40 0 30 Sep 2020
Learning by Cheating Dian Chen Brady Zhou V. Koltun Philipp Krahenbuhl SSL 114 517 0 27 Dec 2019
Momentum Contrast for Unsupervised Visual Representation Learning Kaiming He Haoqi Fan Yuxin Wu Saining Xie Ross B. Girshick SSL 213 12,124 0 13 Nov 2019
Solving Rubik's Cube with a Robot Hand OpenAI Ilge Akkaya Marcin Andrychowicz Maciek Chociej Ma-teusz Litwin ... Peter Welinder Lilian Weng Qiming Yuan Wojciech Zaremba Lei Zhang ODL 121 1,232 0 16 Oct 2019
Variable Impedance Control in End-Effector Space: An Action Space for Reinforcement Learning in Contact-Rich Tasks Roberto Martín-Martín Michelle A. Lee Rachel Gardner Silvio Savarese Jeannette Bohg Animesh Garg 72 196 0 20 Jun 2019
Learning agile and dynamic motor skills for legged robots Jemin Hwangbo Joonho Lee Alexey Dosovitskiy Dario Bellicoso Vassilios Tsounis V. Koltun Marco Hutter 108 1,315 0 24 Jan 2019
On the Continuity of Rotation Representations in Neural Networks Yi Zhou Connelly Barnes Jingwan Lu Jimei Yang Hao Li 3DH 80 1,294 0 17 Dec 2018
Learning Dexterous In-Hand Manipulation OpenAI OpenAI Marcin Andrychowicz Bowen Baker Maciek Chociej Rafal Jozefowicz ... Szymon Sidor Joshua Tobin Peter Welinder Lilian Weng Wojciech Zaremba 161 1,884 0 01 Aug 2018
Representation Learning with Contrastive Predictive Coding Aaron van den Oord Yazhe Li Oriol Vinyals DRL SSL 351 10,356 0 10 Jul 2018
Reinforcement learning for non-prehensile manipulation: Transfer from simulation to physical system Kendall Lowrey S. Kolev Jeremy Dao Aravind Rajeswaran E. Todorov 72 58 0 28 Mar 2018
Rearrangement with Nonprehensile Manipulation Using Deep Reinforcement Learning Weihao Yuan J. A. Stork Danica Kragic M. Y. Wang Kaiyu Hang 37 55 0 15 Mar 2018
Sim-to-Real Transfer of Robotic Control with Dynamics Randomization Xue Bin Peng Marcin Andrychowicz Wojciech Zaremba Pieter Abbeel 112 1,367 0 18 Oct 2017
Proximal Policy Optimization Algorithms John Schulman Filip Wolski Prafulla Dhariwal Alec Radford Oleg Klimov OffRL 541 19,265 0 20 Jul 2017
Sampling-based Algorithms for Optimal Motion Planning S. Karaman Emilio Frazzoli 107 4,698 0 05 May 2011