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AnyTeleop: A General Vision-Based Dexterous Robot Arm-Hand Teleoperation System
RSS 2023.
- reinforcement learning
ASE: Large-scale Reusable Adversarial Skill Embeddings for Physically Simulated Characters
SIGGRAPH 2022.
- reinforcement learning
BEHAVIOR-1K: A Benchmark for Embodied AI with 1,000 Everyday Activities and Realistic Simulation
CoRL 2023.
- reinforcement learning
- rgb
- mobile manipulator
CALM: Conditional Adversarial Latent Models for Directable Virtual Characters
SIGGRAPH2023.
- reinforcement learning
- manipulation
Causal Reasoning in Simulationfor Structure and Transfer Learning of Robot Manipulation Policies
ICRA 2021.
- reinforcement learning
- rgb-d point cloud
- rgb-d point cloud
- dexterous grasping
Closing the Sim-to-Real Loop: Adapting Simulation Randomization with Real World Experience
ICRA 2019.
- reinforcement learning
Coarse-to-Fine Q-attention: Efficient Learning for Visual Robotic Manipulation via Discretisation
CVPR 2022.
- reinforcement learning
- manipulation
CtrlFormer: Learning Transferable State Representation for Visual Control via Transformer
ICML 2022.
- reinforcement learning
Curiosity-Driven Learning of Joint Locomotion and Manipulation Tasks
CoRL 2023.
- reinforcement learning
Data-Driven Operational Space Control for Adaptative and Robust Robot Manipulation
ICRA 2022.
- reinforcement learning
- rgb-d point cloud
- dexterous grasping
Decision Transformer: Reinforcement Learning via Sequence Modeling
NIPS 2021.
- reinforcement learning
DexPBT: Scaling up Dexterous Manipulation for Hand-Arm Systems with Population Based Training
RSS 2023.
- reinforcement learning
Diff-LfD: Contact-aware Model-based Learning from Visual Demonstration for Robotic Manipulation via Differentiable Physics-based Simulation and Rendering
CoRL 2023.
- reinforcement learning
- manipulation
Ditto: Building Digital Twins of Articulated Objects from Interaction
A model that reconstructs part-level geometry and articulation model of an articulated object given observations before and after an interaction. CVPR 2022, oral.
- reinforcement learning
- articulated object
- manipulation
DoorGym: A Scalable Door Opening Environment And Baseline Agent
A scalable door-pening environment in Gym. NeurIPS 2019, Deep RL workshop.
- reinforcement learning
- articulated object
- manipulation
Dynamic Handover: Throw and Catch with Bimanual Hands
CoRL 2023.
- reinforcement learning
Dynamics Randomization Revisited:A Case Study for Quadrupedal Locomotion
ICRA 2021.
- reinforcement learning
Factory: Fast contact for robotic assembly
RSS 2022.
- reinforcement learning
Fleet-DAgger: Interactive Robot Fleet Learning with Scalable Human Supervision
CoRL2023.
- reinforcement learning
- manipulation
FlowBot++: Learning Generalized Articulated Objects Manipulation via Articulation Projection
A system that can learn to articulate novel objects with no prior interaction, after training on other articulated objects. CoRL 2023.
- reinforcement learning
- articulated object
- manipulation
FlowBot3D: Learning 3D Articulation Flow to Manipulate Articulated Objects
A novel method to perceive and manipulate 3D articulated objects that generalizes to enable the robot to articulate unseen classes of objects. RSS 2022.
- reinforcement learning
- articulated object
- manipulation
GAPartNet: Cross-Category Domain-Generalizable Object Perception and Manipulation via Generalizable and Actionable Parts. CVPR 2023 highlight.
Learning generalizable object perception and manipulation skills via Generalizable and Actionable Parts. CVPR 2023.
- reinforcement learning
- rgb-d point cloud
- articulated object
GenDexGrasp: Generalizable Dexterous Grasping
A novel hand-agnostic grasping algorithm for generalizable grasping. ICRA 2023.
- reinforcement learning
- rgb-d point cloud
- dexterous grasping
General In-Hand Object Rotation with Vision and Touch
CoRL 2023.
- reinforcement learning
GPU-Accelerated Robotics Simulation for Distributed Reinforcement Learning
CoRL 2018.
- reinforcement learning
Grasp Multiple Objects with One Hand
A novel method for multi-object grasping on a tabletop with a multi-finger dexterous hand. Preprint, under review.
- reinforcement learning
- rgb-d point cloud
- dexterous grasping
In-Hand Object Pose Tracking via Contact Feedback and GPU-Accelerated Robotic Simulation
ICRA 2021.
- reinforcement learning
In-Hand Object Rotation via Rapid Motor Adaptation
CoRL 2022.
- reinforcement learning
Isaac Gym: High Performance GPU-Based Physics Simulation For Robot Learning
NIPS 2021.
- reinforcement learning
Learning a Contact-Adaptive Controller for Robust, Efficient Legged Locomotion
CoRL 2020.
- reinforcement learning
Learning a State Representation and Navigation in Cluttered and Dynamic Environments
RAL 2021.
- reinforcement learning
Learning Active Task-Oriented Exploration Policies for Bridging the Sim-to-Real Gap
RSS 2020.
- reinforcement learning
Learning to Compose Hierarchical Object-Centric Controllers for Robotic Manipulation
CoRL 2020.
- reinforcement learning
Learning to Walk in Minutes Using Massively Parallel Deep Reinforcement Learning
CoRL 2021.
- reinforcement learning
Legged Locomotion in Challenging Terrains using Egocentric Vision
CoRL2022.
- reinforcement learning
- manipulation
Maniskill2: Generalizable manipulation skill benchmark with large-scale demonstrations
ICLR 2023.
- reinforcement learning
- manipulation
Maniskill: Generalizable manipulation skill benchmark with large-scale demonstrations
NeurIPS 2021 (Dataset and Benchmark Track).
- reinforcement learning
- manipulation
Offline Reinforcement Learning as One Big Sequence Modeling Problem
NIPS 2021.
- reinforcement learning
On Pre-Training for Visuo-Motor Control: Revisiting a Learning-from-Scratch Baseline
ICML 2021.
- reinforcement learning
ORBIT: A Unified Simulation Framework for Interactive Robot Learning Environments
RAL 2023.
- reinforcement learning
- manipulation
PADL: Language-Directed Physics-Based Character Control
SIGGRAPH Asia 2022.
- reinforcement learning
- manipulation
Parallel Q-Learning: Scaling Off-policy Reinforcement Learning
ICML2023.
- reinforcement learning
- manipulation
PartManip: Learning Cross-Category Generalizable Part Manipulation Policy from Point Cloud Observations
CVPR 2023; RGB-D point cloud.
- reinforcement learning
- articulated object
- dexterous grasping
Perceiver-Actor: A Multi-Task Transformer for Robotic Manipulation
CoRL 2022.
- reinforcement learning
- manipulation
Q-attention: Enabling efficient learning for vision-based robotic manipulation
RAL 2022.
- reinforcement learning
- manipulation
Rapid Locomotion via Reinforcement Learning
RSS2022.
- reinforcement learning
- manipulation
Reactive Long Horizon Task Execution via Visual Skill and Precondition Models
IROS 2021.
- reinforcement learning
Real2Sim2Real: Self-Supervised Learning of Physical Single-Step Dynamic Actions for Planar Robot Casting
ICRA2022.
- reinforcement learning
- manipulation
RLAfford: End-to-End Affordance Learning for Robotic Manipulation
ICRA 2023; RGB-D point cloud.
- reinforcement learning
- affordance
- rgb-d point cloud
- articulated object
- manipulation
RLBench: The Robot Learning Benchmark & Learning Environment
RAL 2020.
- reinforcement learning
- manipulation
RoboGen: Towards Unleashing Infinite Data for Automated Robot Learning via Generative Simulation
Preprint.
- reinforcement learning
- manipulation
- mobile manipulator
Rotating without Seeing: Towards In-hand Dexterity through Touch
RSS 2023.
- reinforcement learning
SAGCI-System: Towards Sample-Efficient, Generalizable, Compositional, and Incremental Robot Learning
A system for articulated object manipulation via differentiable simulation. ICRA 2022.
- reinforcement learning
- articulated object
- manipulation
SAM-RL: Sensing-Aware Model-based Reinforcement Learning via Differentiable Physics-based Simulation and Rendering
RSS 2023. Best System Paper Finalist.
- reinforcement learning
- manipulation
Sequential Dexterity: Chaining Dexterous Policies for Long-Horizon Manipulation
CoRL 2023.
- reinforcement learning
Sim-to-Real for Robotic Tactile Sensing via Physics-Based Simulation and Learned Latent Projections
ICRA 2021.
- reinforcement learning
Simulating dual-arm robot motions to avoid collision by rigid body dynamics for laboratory bench work
ALR 2023.
- reinforcement learning
- manipulation
STORM: An Integrated Framework for Fast Joint-Space Model-Predictive Control for Reactive Manipulation
CoRL 2021.
- reinforcement learning
Towards Human-Level Bimanual Dexterous Manipulation with Reinforcement Learnin
NIPS 2022.
- reinforcement learning
- rgb-d point cloud
UniDexGrasp++: Improving Dexterous Grasping Policy Learning via Geometry-aware Curriculum and Iterative Generalist-Specialist Learning
A novel dexterous grasping policy learning pipeline. ICCV 2023.
- reinforcement learning
- rgb-d point cloud
- dexterous grasping
UniDexGrasp: Universal Robotic Dexterous Grasping via Learning Diverse Proposal Generation and Goal-Conditioned Policy
Learning universal robotic dexterous grasping from a point cloud observation under a table-top setting. CVPR 2023.
- reinforcement learning
- rgb-d point cloud
Universal Manipulation Policy Network for Articulated Objects
A single image-based policy network that infers closed-loop action sequences for manipulating articulated objects. RA-L vol. 7, issue 2, 2022.
- reinforcement learning
- articulated object
- manipulation
ViNL: Visual Navigation and Locomotion Over Obstacles
ICRA2023.
- reinforcement learning
- manipulation
VIP: Towards Universal Visual Reward and Representation via Value-Implicit Pre-Training
A self-supervised zero-shot visual reward and representation for downstream unseen robot tasks. ICLR 2023, spotlight.
- reinforcement learning
- articulated object
- manipulation
Visual Dexterity: In-Hand Reorientation of Novel and Complex Object Shapes
Science Robotics 2023.
- reinforcement learning
- manipulation
VLMbench: A Compositional Benchmark for Vision-and-Language Manipulation
NIPS 2022.
- reinforcement learning
- manipulation
ARNOLD: A Benchmark for Language-Grounded Task Learning With Continuous States in Realistic 3D Scenes
ICCV 2023; RGB-D point cloud.
- rgb-d point cloud
- manipulation
CIRCLE: Capture in Rich Contextual Environments
CVPR 2023.
- character animation
Object Motion Guided Human Motion Synthesis
SIGGRAPHAsia 2023.
- character animation