UMI on Legs: Making Manipulation Policies Mobile with Manipulation-Centric Whole-body Controllers

14 July 2024

Huy Ha

Yihuai Gao

Zipeng Fu

Jie Tan

Shuran Song

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Papers citing "UMI on Legs: Making Manipulation Policies Mobile with Manipulation-Centric Whole-body Controllers"

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Title
DexWild: Dexterous Human Interactions for In-the-Wild Robot Policies Tony Tao Mohan Kumar Srirama Jason Jingzhou Liu Kenneth Shaw Deepak Pathak 31 0 0 12 May 2025
FACET: Force-Adaptive Control via Impedance Reference Tracking for Legged Robots Botian Xu Haoyang Weng Qingzhou Lu Yang Gao Huazhe Xu 29 0 0 11 May 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
STDArm: Transferring Visuomotor Policies From Static Data Training to Dynamic Robot Manipulation YiFan Duan Heng Li Yilong Wu Wenhao Yu Xinran Zhang Yedong Shen Jianmin Ji Yuhang Zhang 45 0 0 26 Apr 2025
Flying Hand: End-Effector-Centric Framework for Versatile Aerial Manipulation Teleoperation and Policy Learning Guanqi He Xiaofeng Guo Luyi Tang Yuyao Zhang M. Mousaei Jiahe Xu Junyi Geng Sebastian A. Scherer Guanya Shi 23 0 0 14 Apr 2025
RAMBO: RL-augmented Model-based Optimal Control for Whole-body Loco-manipulation Jin Cheng Dongho Kang Gabriele Fadini Guanya Shi Stelian Coros 30 1 0 09 Apr 2025
X-Capture: An Open-Source Portable Device for Multi-Sensory Learning Samuel Clarke Suzannah Wistreich Yanjie Ze Jiajun Wu 35 0 0 03 Apr 2025
Curiosity-Diffuser: Curiosity Guide Diffusion Models for Reliability Zihao Liu Xing Liu Yizhai Zhang Zhengxiong Liu Panfeng Huang 69 0 0 19 Mar 2025
HumanoidPano: Hybrid Spherical Panoramic-LiDAR Cross-Modal Perception for Humanoid Robots Qiang Zhang Zhang Zhang Wei Cui Jingkai Sun Jiahang Cao ... Hao-Ran Cheng Yujie Chen L. Wang Jian Tang Renjing Xu 50 3 0 12 Mar 2025
BEHAVIOR Robot Suite: Streamlining Real-World Whole-Body Manipulation for Everyday Household Activities Yunfan Jiang Ruohan Zhang J. Wong Chen Wang Yanjie Ze Hang Yin Cem Gokmen Shuran Song Jiajun Wu L. Fei-Fei 67 5 0 07 Mar 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
Bridging the Sim-to-Real Gap for Athletic Loco-Manipulation Nolan Fey G. Margolis Martin Peticco Pulkit Agrawal 52 3 0 15 Feb 2025
DexVLA: Vision-Language Model with Plug-In Diffusion Expert for General Robot Control Junjie Wen Bo Li Jinming Li Zhibin Tang Chaomin Shen Feifei Feng VLM 61 12 0 09 Feb 2025
RobotMover: Learning to Move Large Objects From Human Demonstrations Tianyu Li Joanne Truong Jimmy Yang Alexander Clegg Akshara Rai Sehoon Ha Xavier Puig AI4CE 62 0 0 07 Feb 2025
Dynamic object goal pushing with mobile manipulators through model-free constrained reinforcement learning Ioannis Dadiotis Mayank Mittal Nikos Tsagarakis Marco Hutter 66 2 0 03 Feb 2025
CAIMAN: Causal Action Influence Detection for Sample-efficient Loco-manipulation Yuanchen Yuan Jin Cheng Núria Armengol Urpí Stelian Coros 71 1 0 02 Feb 2025
Embodiment-Agnostic Navigation Policy Trained with Visual Demonstrations Nimrod Curtis Osher Azulay A. Sintov 38 0 0 31 Dec 2024
TidyBot++: An Open-Source Holonomic Mobile Manipulator for Robot Learning Jimmy Wu William Chong Robert Holmberg Aaditya Prasad Yihuai Gao O. Khatib Shuran Song Szymon Rusinkiewicz Jeannette Bohg 74 7 0 11 Dec 2024
QuadWBG: Generalizable Quadrupedal Whole-Body Grasping Jilong Wang Javokhirbek Rajabov Chaoyi Xu Yiming Zheng He Wang 43 1 0 11 Nov 2024
Learning to Look Around: Enhancing Teleoperation and Learning with a Human-like Actuated Neck Bipasha Sen Michelle Wang Nandini Thakur Aditya Agarwal Pulkit Agrawal 28 1 0 01 Nov 2024
Boosting Camera Motion Control for Video Diffusion Transformers Soon Yau Cheong Duygu Ceylan Armin Mustafa Andrew Gilbert C. Huang DiffM VGen 65 11 0 14 Oct 2024
ForceMimic: Force-Centric Imitation Learning with Force-Motion Capture System for Contact-Rich Manipulation Wenhai Liu Junbo Wang Yiming Wang Weiming Wang Cewu Lu 33 14 0 10 Oct 2024
Combining Planning and Diffusion for Mobility with Unknown Dynamics Yajvan Ravan Zhutian Yang Tao Chen Tomás Lozano-Pérez Leslie Pack Kaelbling 41 4 0 09 Oct 2024
Helpful DoggyBot: Open-World Object Fetching using Legged Robots and Vision-Language Models Qi Wu Zipeng Fu Xuxin Cheng Xiaolong Wang Chelsea Finn LM&Ro 33 8 0 30 Sep 2024
Whole-body End-Effector Pose Tracking Tifanny Portela Andrei Cramariuc Mayank Mittal Marco Hutter 47 3 0 24 Sep 2024
Robo-GS: A Physics Consistent Spatial-Temporal Model for Robotic Arm with Hybrid Representation Haozhe Lou Yurong Liu Yike Pan Yiran Geng Jianteng Chen ... Lin Wang Hengzhen Feng Lu Shi Liyi Luo Yongliang Shi AI4CE 50 16 0 27 Aug 2024
Pushing the Limits of Cross-Embodiment Learning for Manipulation and Navigation Jonathan Yang Catherine Glossop Arjun Bhorkar Dhruv Shah Quan Vuong Chelsea Finn Dorsa Sadigh Sergey Levine 41 41 0 29 Feb 2024
Mobile ALOHA: Learning Bimanual Mobile Manipulation with Low-Cost Whole-Body Teleoperation Zipeng Fu Tony Zhao Chelsea Finn 116 288 0 04 Jan 2024
Bridge Data: Boosting Generalization of Robotic Skills with Cross-Domain Datasets F. Ebert Yanlai Yang Karl Schmeckpeper Bernadette Bucher G. Georgakis Kostas Daniilidis Chelsea Finn Sergey Levine 169 219 0 27 Sep 2021
Learning to Walk in Minutes Using Massively Parallel Deep Reinforcement Learning Nikita Rudin David Hoeller Philipp Reist Marco Hutter 115 545 0 24 Sep 2021
What Matters in Learning from Offline Human Demonstrations for Robot Manipulation Ajay Mandlekar Danfei Xu J. Wong Soroush Nasiriany Chen Wang Rohun Kulkarni Li Fei-Fei Silvio Savarese Yuke Zhu Roberto Martín-Martín OffRL 161 472 0 06 Aug 2021
VILENS: Visual, Inertial, Lidar, and Leg Odometry for All-Terrain Legged Robots David Wisth Marco Camurri Maurice F. Fallon 43 118 0 15 Jul 2021
Open-vocabulary Object Detection via Vision and Language Knowledge Distillation Xiuye Gu Nayeon Lee Weicheng Kuo Huayu Chen VLM ObjD 225 899 0 28 Apr 2021
U-Net: Convolutional Networks for Biomedical Image Segmentation Olaf Ronneberger Philipp Fischer Thomas Brox SSeg 3DV 300 75,834 0 18 May 2015