p7cs.RO

cs.RO

737 papers

High-Dimensional Continuous Control Using Generalized Advantage Estimation

John Schulman, Philipp Moritz, Sergey Levine, Michael Jordan, Pieter Abbeel

1506.02438

End-to-End Training of Deep Visuomotor Policies

Sergey Levine, Chelsea Finn, Trevor Darrell, Pieter Abbeel

1504.00702

Generation and Comprehension of Unambiguous Object Descriptions

Junhua Mao, Jonathan Huang, Alexander Toshev, Oana Camburu, Alan Yuille, Kevin Murphy

1511.02283

Learning to See by Moving

Pulkit Agrawal, Joao Carreira, Jitendra Malik

1505.01596

Deep Spatial Autoencoders for Visuomotor Learning

Chelsea Finn, Xin Yu Tan, Yan Duan, Trevor Darrell, Sergey Levine, Pieter Abbeel

1509.06113

Supersizing Self-supervision: Learning to Grasp from 50K Tries and 700 Robot Hours

Lerrel Pinto, Abhinav Gupta

1509.06825

Parameter Space Noise for Exploration

Matthias Plappert, Rein Houthooft, Prafulla Dhariwal, Szymon Sidor, Richard Y. Chen, Xi Chen, Tamim Asfour, Pieter Abbeel, Marcin Andrychowicz

1706.01905

Data-efficient Deep Reinforcement Learning for Dexterous Manipulation

Ivaylo Popov, Nicolas Heess, Timothy Lillicrap, Roland Hafner, Gabriel Barth-Maron, Matej Vecerik, Thomas Lampe, Yuval Tassa, Tom Erez, Martin Riedmiller

1704.03073

MultiNet: Real-time Joint Semantic Reasoning for Autonomous Driving

Marvin Teichmann, Michael Weber, Marius Zoellner, Roberto Cipolla, Raquel Urtasun

1612.07695

Large Language Models for Robotics: A Survey

Fanlong Zeng, Wensheng Gan, Zezheng Huai, Lichao Sun, Hechang Chen, Yongheng Wang, Ning Liu, Philip S. Yu

2311.07226

Curiosity-driven Exploration by Self-supervised Prediction

Deepak Pathak, Pulkit Agrawal, Alexei A. Efros, Trevor Darrell

1705.05363

DAGMapper: Learning to Map by Discovering Lane Topology

Namdar Homayounfar, Wei-Chiu Ma, Justin Liang, Xinyu Wu, Jack Fan, Raquel Urtasun

2012.12377

Learning to Navigate in Complex Environments

Piotr Mirowski, Razvan Pascanu, Fabio Viola, Hubert Soyer, Andrew J. Ballard, Andrea Banino, Misha Denil, Ross Goroshin, Laurent Sifre, Koray Kavukcuoglu, Dharshan Kumaran, Raia Hadsell

1611.03673

PaLM-E: An Embodied Multimodal Language Model

Danny Driess, Fei Xia, Mehdi S. M. Sajjadi, Corey Lynch, Aakanksha Chowdhery, Brian Ichter, Ayzaan Wahid, Jonathan Tompson, Quan Vuong, Tianhe Yu, Wenlong Huang, Yevgen Chebotar, Pierre Sermanet, Daniel Duckworth, Sergey Levine, Vincent Vanhoucke, Karol Hausman, Marc Toussaint, Klaus Greff, Andy Zeng, Igor Mordatch, Pete Florence

2303.03378

Deep Reinforcement Learning for Robotic Manipulation with Asynchronous Off-Policy Updates

Shixiang Gu, Ethan Holly, Timothy Lillicrap, Sergey Levine

1610.00633

Interactive Differentiable Simulation

Eric Heiden, David Millard, Hejia Zhang, Gaurav S. Sukhatme

1905.10706

Benchmarking Deep Reinforcement Learning for Continuous Control

Yan Duan, Xi Chen, Rein Houthooft, John Schulman, Pieter Abbeel

1604.06778

End-to-end Interpretable Neural Motion Planner

Wenyuan Zeng, Wenjie Luo, Simon Suo, Abbas Sadat, Bin Yang, Sergio Casas, Raquel Urtasun

2101.06679

IntentNet: Learning to Predict Intention from Raw Sensor Data

Sergio Casas, Wenjie Luo, Raquel Urtasun

2101.07907

Semantic Instance Segmentation with a Discriminative Loss Function

Bert De Brabandere, Davy Neven, Luc Van Gool

1708.02551

Learning to Drive in a Day

Alex Kendall, Jeffrey Hawke, David Janz, Przemyslaw Mazur, Daniele Reda, John-Mark Allen, Vinh-Dieu Lam, Alex Bewley, Amar Shah

1807.00412

Segmental Spatiotemporal CNNs for Fine-grained Action Segmentation

Colin Lea, Austin Reiter, Rene Vidal, Gregory D. Hager

1602.02995

TrafficPredict: Trajectory Prediction for Heterogeneous Traffic-Agents

Yuexin Ma, Xinge Zhu, Sibo Zhang, Ruigang Yang, Wenping Wang, Dinesh Manocha

1811.02146

Learning Modular Neural Network Policies for Multi-Task and Multi-Robot Transfer

Coline Devin, Abhishek Gupta, Trevor Darrell, Pieter Abbeel, Sergey Levine

1609.07088

Seeing the Un-Scene: Learning Amodal Semantic Maps for Room Navigation

Medhini Narasimhan, Erik Wijmans, Xinlei Chen, Trevor Darrell, Dhruv Batra, Devi Parikh, Amanpreet Singh

2007.09841

Sim-to-Real Transfer for Vision-and-Language Navigation

Peter Anderson, Ayush Shrivastava, Joanne Truong, Arjun Majumdar, Devi Parikh, Dhruv Batra, Stefan Lee

2011.03807

MODNet: Moving Object Detection Network with Motion and Appearance for Autonomous Driving

Mennatullah Siam, Heba Mahgoub, Mohamed Zahran, Senthil Yogamani, Martin Jagersand, Ahmad El-Sallab

1709.04821

3D Fully Convolutional Network for Vehicle Detection in Point Cloud

Bo Li

1611.08069

Real-Time Grasp Detection Using Convolutional Neural Networks

Joseph Redmon, Anelia Angelova

1412.3128

Habitat: A Platform for Embodied AI Research

Manolis Savva, Abhishek Kadian, Oleksandr Maksymets, Yili Zhao, Erik Wijmans, Bhavana Jain, Julian Straub, Jia Liu, Vladlen Koltun, Jitendra Malik, Devi Parikh, Dhruv Batra

1904.01201

Reinforced Cross-Modal Matching and Self-Supervised Imitation Learning for Vision-Language Navigation

Xin Wang, Qiuyuan Huang, Asli Celikyilmaz, Jianfeng Gao, Dinghan Shen, Yuan-Fang Wang, William Yang Wang, Lei Zhang

1811.10092

Guided Cost Learning: Deep Inverse Optimal Control via Policy Optimization

Chelsea Finn, Sergey Levine, Pieter Abbeel

1603.00448

Learning Exploration Policies for Navigation

Tao Chen, Saurabh Gupta, Abhinav Gupta

1903.01959

Scene Memory Transformer for Embodied Agents in Long-Horizon Tasks

Kuan Fang, Alexander Toshev, Li Fei-Fei, Silvio Savarese

1903.03878

Sim-to-Real Robot Learning from Pixels with Progressive Nets

Andrei A. Rusu, Mel Vecerik, Thomas Rothörl, Nicolas Heess, Razvan Pascanu, Raia Hadsell

1610.04286

Driving in the Matrix: Can Virtual Worlds Replace Human-Generated Annotations for Real World Tasks?

Matthew Johnson-Roberson, Charles Barto, Rounak Mehta, Sharath Nittur Sridhar, Karl Rosaen, Ram Vasudevan

1610.01983

PyRobot: An Open-source Robotics Framework for Research and Benchmarking

Adithyavairavan Murali, Tao Chen, Kalyan Vasudev Alwala, Dhiraj Gandhi, Lerrel Pinto, Saurabh Gupta, Abhinav Gupta

1906.08236

Learning agile and dynamic motor skills for legged robots

Jemin Hwangbo, Joonho Lee, Alexey Dosovitskiy, Dario Bellicoso, Vassilios Tsounis, Vladlen Koltun, Marco Hutter

1901.08652

Benchmarking Classic and Learned Navigation in Complex 3D Environments

Dmytro Mishkin, Alexey Dosovitskiy, Vladlen Koltun

1901.10915

Joint 2D-3D-Semantic Data for Indoor Scene Understanding

Iro Armeni, Sasha Sax, Amir R. Zamir, Silvio Savarese

1702.01105

SE3-Nets: Learning Rigid Body Motion using Deep Neural Networks

Arunkumar Byravan, Dieter Fox

1606.02378

Deep Lagrangian Networks: Using Physics as Model Prior for Deep Learning

Michael Lutter, Christian Ritter, Jan Peters

1907.04490

NoMaD: Goal Masked Diffusion Policies for Navigation and Exploration

Ajay Sridhar, Dhruv Shah, Catherine Glossop, Sergey Levine

2310.07896

Octo: An Open-Source Generalist Robot Policy

Octo Model Team, Dibya Ghosh, Homer Walke, Karl Pertsch, Kevin Black, Oier Mees, Sudeep Dasari, Joey Hejna, Tobias Kreiman, Charles Xu, Jianlan Luo, You Liang Tan, Lawrence Yunliang Chen, Pannag Sanketi, Quan Vuong, Ted Xiao, Dorsa Sadigh, Chelsea Finn, Sergey Levine

2405.12213

RT-1: Robotics Transformer for Real-World Control at Scale

Anthony Brohan, Noah Brown, Justice Carbajal, Yevgen Chebotar, Joseph Dabis, Chelsea Finn, Keerthana Gopalakrishnan, Karol Hausman, Alex Herzog, Jasmine Hsu, Julian Ibarz, Brian Ichter, Alex Irpan, Tomas Jackson, Sally Jesmonth, Nikhil J Joshi, Ryan Julian, Dmitry Kalashnikov, Yuheng Kuang, Isabel Leal, Kuang-Huei Lee, Sergey Levine, Yao Lu, Utsav Malla, Deeksha Manjunath, Igor Mordatch, Ofir Nachum, Carolina Parada, Jodilyn Peralta, Emily Perez, Karl Pertsch, Jornell Quiambao, Kanishka Rao, Michael Ryoo, Grecia Salazar, Pannag Sanketi, Kevin Sayed, Jaspiar Singh, Sumedh Sontakke, Austin Stone, Clayton Tan, Huong Tran, Vincent Vanhoucke, Steve Vega, Quan Vuong, Fei Xia, Ted Xiao, Peng Xu, Sichun Xu, Tianhe Yu, Brianna Zitkovich

2212.06817

IDD: A Dataset for Exploring Problems of Autonomous Navigation in Unconstrained Environments

Girish Varma, Anbumani Subramanian, Anoop Namboodiri, Manmohan Chandraker, C V Jawahar

1811.10200

Multi-view Self-supervised Deep Learning for 6D Pose Estimation in the Amazon Picking Challenge

Andy Zeng, Kuan-Ting Yu, Shuran Song, Daniel Suo, Ed Walker, Alberto Rodriguez, Jianxiong Xiao

1609.09475

Time-Contrastive Networks: Self-Supervised Learning from Video

Pierre Sermanet, Corey Lynch, Yevgen Chebotar, Jasmine Hsu, Eric Jang, Stefan Schaal, Sergey Levine

1704.06888

Learning to Push by Grasping: Using multiple tasks for effective learning

Lerrel Pinto, Abhinav Gupta

1609.09025

Gaussian Processes for Data-Efficient Learning in Robotics and Control

Marc Peter Deisenroth, Dieter Fox, Carl Edward Rasmussen

1502.02860

Gated Path Planning Networks

Lisa Lee, Emilio Parisotto, Devendra Singh Chaplot, Eric Xing, Ruslan Salakhutdinov

1806.06408

Learning Hand-Eye Coordination for Robotic Grasping with Deep Learning and Large-Scale Data Collection

Sergey Levine, Peter Pastor, Alex Krizhevsky, Deirdre Quillen

1603.02199

On Evaluation of Embodied Navigation Agents

Peter Anderson, Angel Chang, Devendra Singh Chaplot, Alexey Dosovitskiy, Saurabh Gupta, Vladlen Koltun, Jana Kosecka, Jitendra Malik, Roozbeh Mottaghi, Manolis Savva, Amir R. Zamir

1807.06757

Particle Filter Networks with Application to Visual Localization

Peter Karkus, David Hsu, Wee Sun Lee

1805.08975

Learning to Poke by Poking: Experiential Learning of Intuitive Physics

Pulkit Agrawal, Ashvin Nair, Pieter Abbeel, Jitendra Malik, Sergey Levine

1606.07419

Driving Policy Transfer via Modularity and Abstraction

Matthias Müller, Alexey Dosovitskiy, Bernard Ghanem, Vladlen Koltun

1804.09364

Gibson Env: Real-World Perception for Embodied Agents

Fei Xia, Amir Zamir, Zhi-Yang He, Alexander Sax, Jitendra Malik, Silvio Savarese

1808.10654

Learning End-to-end Autonomous Driving using Guided Auxiliary Supervision

Ashish Mehta, Adithya Subramanian, Anbumani Subramanian

1808.10393

Differentiable Particle Filters: End-to-End Learning with Algorithmic Priors

Rico Jonschkowski, Divyam Rastogi, Oliver Brock

1805.11122

Uncertainty-Aware Reinforcement Learning for Collision Avoidance

Gregory Kahn, Adam Villaflor, Vitchyr Pong, Pieter Abbeel, Sergey Levine

1702.01182

CAD2RL: Real Single-Image Flight without a Single Real Image

Fereshteh Sadeghi, Sergey Levine

1611.04201

Shape Completion Enabled Robotic Grasping

Jacob Varley, Chad DeChant, Adam Richardson, Joaquín Ruales, Peter Allen

1609.08546

ShapeNet: An Information-Rich 3D Model Repository

Angel X. Chang, Thomas Funkhouser, Leonidas Guibas, Pat Hanrahan, Qixing Huang, Zimo Li, Silvio Savarese, Manolis Savva, Shuran Song, Hao Su, Jianxiong Xiao, Li Yi, Fisher Yu

1512.03012

Interactive Perception: Leveraging Action in Perception and Perception in Action

Jeannette Bohg, Karol Hausman, Bharath Sankaran, Oliver Brock, Danica Kragic, Stefan Schaal, Gaurav Sukhatme

1604.03670

The Curious Robot: Learning Visual Representations via Physical Interactions

Lerrel Pinto, Dhiraj Gandhi, Yuanfeng Han, Yong-Lae Park, Abhinav Gupta

1604.01360

Asymmetric Actor Critic for Image-Based Robot Learning

Lerrel Pinto, Marcin Andrychowicz, Peter Welinder, Wojciech Zaremba, Pieter Abbeel

1710.06542

Tracking Emerges by Colorizing Videos

Carl Vondrick, Abhinav Shrivastava, Alireza Fathi, Sergio Guadarrama, Kevin Murphy

1806.09594

Funnel Libraries for Real-Time Robust Feedback Motion Planning

Anirudha Majumdar, Russ Tedrake

1601.04037

To Fall Or Not To Fall: A Visual Approach to Physical Stability Prediction

Wenbin Li, Seyedmajid Azimi, Aleš Leonardis, Mario Fritz

1604.00066

A Dataset for Improved RGBD-based Object Detection and Pose Estimation for Warehouse Pick-and-Place

Colin Rennie, Rahul Shome, Kostas E. Bekris, Alberto F. De Souza

1509.01277

Synthesizing Training Data for Object Detection in Indoor Scenes

Georgios Georgakis, Arsalan Mousavian, Alexander C. Berg, Jana Kosecka

1702.07836

Domain Randomization for Transferring Deep Neural Networks from Simulation to the Real World

Josh Tobin, Rachel Fong, Alex Ray, Jonas Schneider, Wojciech Zaremba, Pieter Abbeel

1703.06907

Learning to Learn How to Learn: Self-Adaptive Visual Navigation Using Meta-Learning

Mitchell Wortsman, Kiana Ehsani, Mohammad Rastegari, Ali Farhadi, Roozbeh Mottaghi

1812.00971

Visual Semantic Navigation using Scene Priors

Wei Yang, Xiaolong Wang, Ali Farhadi, Abhinav Gupta, Roozbeh Mottaghi

1810.06543

Preparing for the Unknown: Learning a Universal Policy with Online System Identification

Wenhao Yu, Jie Tan, C. Karen Liu, Greg Turk

1702.02453

A Self-supervised Learning System for Object Detection using Physics Simulation and Multi-view Pose Estimation

Chaitanya Mitash, Kostas E. Bekris, Abdeslam Boularias

1703.03347

Deep Predictive Policy Training using Reinforcement Learning

Ali Ghadirzadeh, Atsuto Maki, Danica Kragic, Mårten Björkman

1703.00727

SegICP: Integrated Deep Semantic Segmentation and Pose Estimation

Jay M. Wong, Vincent Kee, Tiffany Le, Syler Wagner, Gian-Luca Mariottini, Abraham Schneider, Lei Hamilton, Rahul Chipalkatty, Mitchell Hebert, David M. S. Johnson, Jimmy Wu, Bolei Zhou, Antonio Torralba

1703.01661

T-LESS: An RGB-D Dataset for 6D Pose Estimation of Texture-less Objects

Tomas Hodan, Pavel Haluza, Stepan Obdrzalek, Jiri Matas, Manolis Lourakis, Xenophon Zabulis

1701.05498

Learning Invariant Feature Spaces to Transfer Skills with Reinforcement Learning

Abhishek Gupta, Coline Devin, YuXuan Liu, Pieter Abbeel, Sergey Levine

1703.02949

Making Sense of Vision and Touch: Self-Supervised Learning of Multimodal Representations for Contact-Rich Tasks

Michelle A. Lee, Yuke Zhu, Krishnan Srinivasan, Parth Shah, Silvio Savarese, Li Fei-Fei, Animesh Garg, Jeannette Bohg

1810.10191

Grasp2Vec: Learning Object Representations from Self-Supervised Grasping

Eric Jang, Coline Devin, Vincent Vanhoucke, Sergey Levine

1811.06964

Stochastic Variational Video Prediction

Mohammad Babaeizadeh, Chelsea Finn, Dumitru Erhan, Roy H. Campbell, Sergey Levine

1710.11252

Multimodal Deep Learning for Robust RGB-D Object Recognition

Andreas Eitel, Jost Tobias Springenberg, Luciano Spinello, Martin Riedmiller, Wolfram Burgard

1507.06821

Continuous Deep Q-Learning with Model-based Acceleration

Shixiang Gu, Timothy Lillicrap, Ilya Sutskever, Sergey Levine

1603.00748

MimicGen: A Data Generation System for Scalable Robot Learning using Human Demonstrations

Ajay Mandlekar, Soroush Nasiriany, Bowen Wen, Iretiayo Akinola, Yashraj Narang, Linxi Fan, Yuke Zhu, Dieter Fox

2310.17596

Maximum a Posteriori Policy Optimisation

Abbas Abdolmaleki, Jost Tobias Springenberg, Yuval Tassa, Remi Munos, Nicolas Heess, Martin Riedmiller

1806.06920

From Pixels to Torques: Policy Learning with Deep Dynamical Models

Niklas Wahlström, Thomas B. Schön, Marc Peter Deisenroth

1502.02251

IKEA Furniture Assembly Environment for Long-Horizon Complex Manipulation Tasks

Youngwoon Lee, Edward S. Hu, Zhengyu Yang, Alex Yin, Joseph J. Lim

1911.07246

Mobile ALOHA: Learning Bimanual Mobile Manipulation with Low-Cost Whole-Body Teleoperation

Zipeng Fu, Tony Z. Zhao, Chelsea Finn

2401.02117

Language Models as Zero-Shot Trajectory Generators

Teyun Kwon, Norman Di Palo, Edward Johns

2310.11604

RT-2: Vision-Language-Action Models Transfer Web Knowledge to Robotic Control

Anthony Brohan, Noah Brown, Justice Carbajal, Yevgen Chebotar, Xi Chen, Krzysztof Choromanski, Tianli Ding, Danny Driess, Avinava Dubey, Chelsea Finn, Pete Florence, Chuyuan Fu, Montse Gonzalez Arenas, Keerthana Gopalakrishnan, Kehang Han, Karol Hausman, Alexander Herzog, Jasmine Hsu, Brian Ichter, Alex Irpan, Nikhil Joshi, Ryan Julian, Dmitry Kalashnikov, Yuheng Kuang, Isabel Leal, Lisa Lee, Tsang-Wei Edward Lee, Sergey Levine, Yao Lu, Henryk Michalewski, Igor Mordatch, Karl Pertsch, Kanishka Rao, Krista Reymann, Michael Ryoo, Grecia Salazar, Pannag Sanketi, Pierre Sermanet, Jaspiar Singh, Anikait Singh, Radu Soricut, Huong Tran, Vincent Vanhoucke, Quan Vuong, Ayzaan Wahid, Stefan Welker, Paul Wohlhart, Jialin Wu, Fei Xia, Ted Xiao, Peng Xu, Sichun Xu, Tianhe Yu, Brianna Zitkovich

2307.15818

FMB: a Functional Manipulation Benchmark for Generalizable Robotic Learning

Jianlan Luo, Charles Xu, Fangchen Liu, Liam Tan, Zipeng Lin, Jeffrey Wu, Pieter Abbeel, Sergey Levine

2401.08553

Zero-Shot Robotic Manipulation with Pretrained Image-Editing Diffusion Models

Kevin Black, Mitsuhiko Nakamoto, Pranav Atreya, Homer Walke, Chelsea Finn, Aviral Kumar, Sergey Levine

2310.10639

Learning Transferable Policies for Monocular Reactive MAV Control

Shreyansh Daftry, J. Andrew Bagnell, Martial Hebert

1608.00627

Team Delft's Robot Winner of the Amazon Picking Challenge 2016

Carlos Hernandez, Mukunda Bharatheesha, Wilson Ko, Hans Gaiser, Jethro Tan, Kanter van Deurzen, Maarten de Vries, Bas Van Mil, Jeff van Egmond, Ruben Burger, Mihai Morariu, Jihong Ju, Xander Gerrmann, Ronald Ensing, Jan Van Frankenhuyzen, Martijn Wisse

1610.05514

Learning Particle Dynamics for Manipulating Rigid Bodies, Deformable Objects, and Fluids

Yunzhu Li, Jiajun Wu, Russ Tedrake, Joshua B. Tenenbaum, Antonio Torralba

1810.01566

RGBD Datasets: Past, Present and Future

Michael Firman

1604.00999

Pairwise Decomposition of Image Sequences for Active Multi-View Recognition

Edward Johns, Stefan Leutenegger, Andrew J. Davison

1605.08359

Look-ahead before you leap: end-to-end active recognition by forecasting the effect of motion

Dinesh Jayaraman, Kristen Grauman

1605.00164

Scaling Robot Learning with Semantically Imagined Experience

Tianhe Yu, Ted Xiao, Austin Stone, Jonathan Tompson, Anthony Brohan, Su Wang, Jaspiar Singh, Clayton Tan, Dee M, Jodilyn Peralta, Brian Ichter, Karol Hausman, Fei Xia

2302.11550

Language Embedded Radiance Fields for Zero-Shot Task-Oriented Grasping

Adam Rashid, Satvik Sharma, Chung Min Kim, Justin Kerr, Lawrence Chen, Angjoo Kanazawa, Ken Goldberg

2309.07970

Scaling Up and Distilling Down: Language-Guided Robot Skill Acquisition

Huy Ha, Pete Florence, Shuran Song

2307.14535

ManiSkill2: A Unified Benchmark for Generalizable Manipulation Skills

Jiayuan Gu, Fanbo Xiang, Xuanlin Li, Zhan Ling, Xiqiang Liu, Tongzhou Mu, Yihe Tang, Stone Tao, Xinyue Wei, Yunchao Yao, Xiaodi Yuan, Pengwei Xie, Zhiao Huang, Rui Chen, Hao Su

2302.04659

DINOBot: Robot Manipulation via Retrieval and Alignment with Vision Foundation Models

Norman Di Palo, Edward Johns

2402.13181

Diffusion Policy: Visuomotor Policy Learning via Action Diffusion

Cheng Chi, Zhenjia Xu, Siyuan Feng, Eric Cousineau, Yilun Du, Benjamin Burchfiel, Russ Tedrake, Shuran Song

2303.04137

Sim-to-Real via Sim-to-Sim: Data-efficient Robotic Grasping via Randomized-to-Canonical Adaptation Networks

Stephen James, Paul Wohlhart, Mrinal Kalakrishnan, Dmitry Kalashnikov, Alex Irpan, Julian Ibarz, Sergey Levine, Raia Hadsell, Konstantinos Bousmalis

1812.07252

GenAug: Retargeting behaviors to unseen situations via Generative Augmentation

Zoey Chen, Sho Kiami, Abhishek Gupta, Vikash Kumar

2302.06671

BundleSDF: Neural 6-DoF Tracking and 3D Reconstruction of Unknown Objects

Bowen Wen, Jonathan Tremblay, Valts Blukis, Stephen Tyree, Thomas Muller, Alex Evans, Dieter Fox, Jan Kautz, Stan Birchfield

2303.14158

Keypoint Action Tokens Enable In-Context Imitation Learning in Robotics

Norman Di Palo, Edward Johns

2403.19578

Isaac Gym: High Performance GPU-Based Physics Simulation For Robot Learning

Viktor Makoviychuk, Lukasz Wawrzyniak, Yunrong Guo, Michelle Lu, Kier Storey, Miles Macklin, David Hoeller, Nikita Rudin, Arthur Allshire, Ankur Handa, Gavriel State

2108.10470

Visual Foresight: Model-Based Deep Reinforcement Learning for Vision-Based Robotic Control

Frederik Ebert, Chelsea Finn, Sudeep Dasari, Annie Xie, Alex Lee, Sergey Levine

1812.00568

Meta-World: A Benchmark and Evaluation for Multi-Task and Meta Reinforcement Learning

Tianhe Yu, Deirdre Quillen, Zhanpeng He, Ryan Julian, Avnish Narayan, Hayden Shively, Adithya Bellathur, Karol Hausman, Chelsea Finn, Sergey Levine

1910.10897

Goal-Conditioned Imitation Learning using Score-based Diffusion Policies

Moritz Reuss, Maximilian Li, Xiaogang Jia, Rudolf Lioutikov

2304.02532

Deep Reinforcement Learning in a Handful of Trials using Probabilistic Dynamics Models

Kurtland Chua, Roberto Calandra, Rowan McAllister, Sergey Levine

1805.12114

Approximate Convex Decomposition for 3D Meshes with Collision-Aware Concavity and Tree Search

Xinyue Wei, Minghua Liu, Zhan Ling, Hao Su

2205.02961

DALL-E-Bot: Introducing Web-Scale Diffusion Models to Robotics

Ivan Kapelyukh, Vitalis Vosylius, Edward Johns

2210.02438

VoxPoser: Composable 3D Value Maps for Robotic Manipulation with Language Models

Wenlong Huang, Chen Wang, Ruohan Zhang, Yunzhu Li, Jiajun Wu, Li Fei-Fei

2307.05973

MegaPose: 6D Pose Estimation of Novel Objects via Render & Compare

Yann Labbé, Lucas Manuelli, Arsalan Mousavian, Stephen Tyree, Stan Birchfield, Jonathan Tremblay, Justin Carpentier, Mathieu Aubry, Dieter Fox, Josef Sivic

2212.06870

Language to Rewards for Robotic Skill Synthesis

Wenhao Yu, Nimrod Gileadi, Chuyuan Fu, Sean Kirmani, Kuang-Huei Lee, Montse Gonzalez Arenas, Hao-Tien Lewis Chiang, Tom Erez, Leonard Hasenclever, Jan Humplik, Brian Ichter, Ted Xiao, Peng Xu, Andy Zeng, Tingnan Zhang, Nicolas Heess, Dorsa Sadigh, Jie Tan, Yuval Tassa, Fei Xia

2306.08647

Train Offline, Test Online: A Real Robot Learning Benchmark

Gaoyue Zhou, Victoria Dean, Mohan Kumar Srirama, Aravind Rajeswaran, Jyothish Pari, Kyle Hatch, Aryan Jain, Tianhe Yu, Pieter Abbeel, Lerrel Pinto, Chelsea Finn, Abhinav Gupta

2306.00942

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, Anima Anandkumar

2310.12931

Model-Ensemble Trust-Region Policy Optimization

Thanard Kurutach, Ignasi Clavera, Yan Duan, Aviv Tamar, Pieter Abbeel

1802.10592

LoFTR: Detector-Free Local Feature Matching with Transformers

Jiaming Sun, Zehong Shen, Yuang Wang, Hujun Bao, Xiaowei Zhou

2104.00680

Physically Plausible Full-Body Hand-Object Interaction Synthesis

Jona Braun, Sammy Christen, Muhammed Kocabas, Emre Aksan, Otmar Hilliges

2309.07907

The Surprising Effectiveness of Representation Learning for Visual Imitation

Jyothish Pari, Nur Muhammad Shafiullah, Sridhar Pandian Arunachalam, Lerrel Pinto

2112.01511

The Unsurprising Effectiveness of Pre-Trained Vision Models for Control

Simone Parisi, Aravind Rajeswaran, Senthil Purushwalkam, Abhinav Gupta

2203.03580

BundleTrack: 6D Pose Tracking for Novel Objects without Instance or Category-Level 3D Models

Bowen Wen, Kostas Bekris

2108.00516

R3M: A Universal Visual Representation for Robot Manipulation

Suraj Nair, Aravind Rajeswaran, Vikash Kumar, Chelsea Finn, Abhinav Gupta

2203.12601

Analysis and Observations from the First Amazon Picking Challenge

Nikolaus Correll, Kostas E. Bekris, Dmitry Berenson, Oliver Brock, Albert Causo, Kris Hauser, Kei Okada, Alberto Rodriguez, Joseph M. Romano, Peter R. Wurman

1601.05484

Learning Dexterous In-Hand Manipulation

OpenAI, Marcin Andrychowicz, Bowen Baker, Maciek Chociej, Rafal Jozefowicz, Bob McGrew, Jakub Pachocki, Arthur Petron, Matthias Plappert, Glenn Powell, Alex Ray, Jonas Schneider, Szymon Sidor, Josh Tobin, Peter Welinder, Lilian Weng, Wojciech Zaremba

1808.00177

Deep Visual Foresight for Planning Robot Motion

Chelsea Finn, Sergey Levine

1610.00696

se(3)-TrackNet: Data-driven 6D Pose Tracking by Calibrating Image Residuals in Synthetic Domains

Bowen Wen, Chaitanya Mitash, Baozhang Ren, Kostas E. Bekris

2007.13866

Visual Room Rearrangement

Luca Weihs, Matt Deitke, Aniruddha Kembhavi, Roozbeh Mottaghi

2103.16544

Learning RGB-D Feature Embeddings for Unseen Object Instance Segmentation

Yu Xiang, Christopher Xie, Arsalan Mousavian, Dieter Fox

2007.15157

Monte-Carlo Tree Search for Efficient Visually Guided Rearrangement Planning

Yann Labbé, Sergey Zagoruyko, Igor Kalevatykh, Ivan Laptev, Justin Carpentier, Mathieu Aubry, Josef Sivic

1904.10348

Vision-driven Compliant Manipulation for Reliable, High-Precision Assembly Tasks

Andrew S. Morgan, Bowen Wen, Junchi Liang, Abdeslam Boularias, Aaron M. Dollar, Kostas Bekris

2106.14070

Implicit Behavioral Cloning

Pete Florence, Corey Lynch, Andy Zeng, Oscar Ramirez, Ayzaan Wahid, Laura Downs, Adrian Wong, Johnny Lee, Igor Mordatch, Jonathan Tompson

2109.00137

ArtiGrasp: Physically Plausible Synthesis of Bi-Manual Dexterous Grasping and Articulation

Hui Zhang, Sammy Christen, Zicong Fan, Luocheng Zheng, Jemin Hwangbo, Jie Song, Otmar Hilliges

2309.03891

Learning Human-to-Robot Handovers from Point Clouds

Sammy Christen, Wei Yang, Claudia Pérez-D'Arpino, Otmar Hilliges, Dieter Fox, Yu-Wei Chao

2303.17592

Deep Object Pose Estimation for Semantic Robotic Grasping of Household Objects

Jonathan Tremblay, Thang To, Balakumar Sundaralingam, Yu Xiang, Dieter Fox, Stan Birchfield

1809.10790

Rearrangement with Nonprehensile Manipulation Using Deep Reinforcement Learning

Weihao Yuan, Johannes A. Stork, Danica Kragic, Michael Y. Wang, Kaiyu Hang

1803.05752

DeepIM: Deep Iterative Matching for 6D Pose Estimation

Yi Li, Gu Wang, Xiangyang Ji, Yu Xiang, Dieter Fox

1804.00175

A0C: Alpha Zero in Continuous Action Space

Thomas M. Moerland, Joost Broekens, Aske Plaat, Catholijn M. Jonker

1805.09613

SynH2R: Synthesizing Hand-Object Motions for Learning Human-to-Robot Handovers

Sammy Christen, Lan Feng, Wei Yang, Yu-Wei Chao, Otmar Hilliges, Jie Song

2311.05599

A System for General In-Hand Object Re-Orientation

Tao Chen, Jie Xu, Pulkit Agrawal

2111.03043

Category-Level 6D Object Pose Estimation in the Wild: A Semi-Supervised Learning Approach and A New Dataset

Yang Fu, Xiaolong Wang

2206.15436

Fast-Grasp'D: Dexterous Multi-finger Grasp Generation Through Differentiable Simulation

Dylan Turpin, Tao Zhong, Shutong Zhang, Guanglei Zhu, Jingzhou Liu, Ritvik Singh, Eric Heiden, Miles Macklin, Stavros Tsogkas, Sven Dickinson, Animesh Garg

2306.08132

Self-Supervised Geometric Correspondence for Category-Level 6D Object Pose Estimation in the Wild

Kaifeng Zhang, Yang Fu, Shubhankar Borse, Hong Cai, Fatih Porikli, Xiaolong Wang

2210.07199

FCOS3D: Fully Convolutional One-Stage Monocular 3D Object Detection

Tai Wang, Xinge Zhu, Jiangmiao Pang, Dahua Lin

2104.10956

RTM3D: Real-time Monocular 3D Detection from Object Keypoints for Autonomous Driving

Peixuan Li, Huaici Zhao, Pengfei Liu, Feidao Cao

2001.03343

MonoPair: Monocular 3D Object Detection Using Pairwise Spatial Relationships

Yongjian Chen, Lei Tai, Kai Sun, Mingyang Li

2003.00504

Eagle: Exploring The Design Space for Multimodal LLMs with Mixture of Encoders

Min Shi, Fuxiao Liu, Shihao Wang, Shijia Liao, Subhashree Radhakrishnan, Yilin Zhao, De-An Huang, Hongxu Yin, Karan Sapra, Yaser Yacoob, Humphrey Shi, Bryan Catanzaro, Andrew Tao, Jan Kautz, Zhiding Yu, Guilin Liu

2408.15998

Kimera: an Open-Source Library for Real-Time Metric-Semantic Localization and Mapping

Antoni Rosinol, Marcus Abate, Yun Chang, Luca Carlone

1910.02490

DenseFusion: 6D Object Pose Estimation by Iterative Dense Fusion

Chen Wang, Danfei Xu, Yuke Zhu, Roberto Martín-Martín, Cewu Lu, Li Fei-Fei, Silvio Savarese

1901.04780

Cosmos World Foundation Model Platform for Physical AI

NVIDIA, :, Niket Agarwal, Arslan Ali, Maciej Bala, Yogesh Balaji, Erik Barker, Tiffany Cai, Prithvijit Chattopadhyay, Yongxin Chen, Yin Cui, Yifan Ding, Daniel Dworakowski, Jiaojiao Fan, Michele Fenzi, Francesco Ferroni, Sanja Fidler, Dieter Fox, Songwei Ge, Yunhao Ge, Jinwei Gu, Siddharth Gururani, Ethan He, Jiahui Huang, Jacob Huffman, Pooya Jannaty, Jingyi Jin, Seung Wook Kim, Gergely Klár, Grace Lam, Shiyi Lan, Laura Leal-Taixe, Anqi Li, Zhaoshuo Li, Chen-Hsuan Lin, Tsung-Yi Lin, Huan Ling, Ming-Yu Liu, Xian Liu, Alice Luo, Qianli Ma, Hanzi Mao, Kaichun Mo, Arsalan Mousavian, Seungjun Nah, Sriharsha Niverty, David Page, Despoina Paschalidou, Zeeshan Patel, Lindsey Pavao, Morteza Ramezanali, Fitsum Reda, Xiaowei Ren, Vasanth Rao Naik Sabavat, Ed Schmerling, Stella Shi, Bartosz Stefaniak, Shitao Tang, Lyne Tchapmi, Przemek Tredak, Wei-Cheng Tseng, Jibin Varghese, Hao Wang, Haoxiang Wang, Heng Wang, Ting-Chun Wang, Fangyin Wei, Xinyue Wei, Jay Zhangjie Wu, Jiashu Xu, Wei Yang, Lin Yen-Chen, Xiaohui Zeng, Yu Zeng, Jing Zhang, Qinsheng Zhang, Yuxuan Zhang, Qingqing Zhao, Artur Zolkowski

2501.03575

Learning Object Bounding Boxes for 3D Instance Segmentation on Point Clouds

Bo Yang, Jianan Wang, Ronald Clark, Qingyong Hu, Sen Wang, Andrew Markham, Niki Trigoni

1906.01140

FreiHAND: A Dataset for Markerless Capture of Hand Pose and Shape from Single RGB Images

Christian Zimmermann, Duygu Ceylan, Jimei Yang, Bryan Russell, Max Argus, Thomas Brox

1909.04349

PCAN: 3D Attention Map Learning Using Contextual Information for Point Cloud Based Retrieval

Wenxiao Zhang, Chunxia Xiao

1904.09793

Sim2Real Predictivity: Does Evaluation in Simulation Predict Real-World Performance?

Abhishek Kadian, Joanne Truong, Aaron Gokaslan, Alexander Clegg, Erik Wijmans, Stefan Lee, Manolis Savva, Sonia Chernova, Dhruv Batra

1912.06321

Behavior Transformers: Cloning $k$ modes with one stone

Nur Muhammad Mahi Shafiullah, Zichen Jeff Cui, Ariuntuya Altanzaya, Lerrel Pinto

2206.11251

Learning Contact-Rich Manipulation Skills with Guided Policy Search

Sergey Levine, Nolan Wagener, Pieter Abbeel

1501.05611

Sim-to-Real: Learning Agile Locomotion For Quadruped Robots

Jie Tan, Tingnan Zhang, Erwin Coumans, Atil Iscen, Yunfei Bai, Danijar Hafner, Steven Bohez, Vincent Vanhoucke

1804.10332

SPNets: Differentiable Fluid Dynamics for Deep Neural Networks

Connor Schenck, Dieter Fox

1806.06094

Active Neural Localization

Devendra Singh Chaplot, Emilio Parisotto, Ruslan Salakhutdinov

1801.08214

Interactive Language: Talking to Robots in Real Time

Corey Lynch, Ayzaan Wahid, Jonathan Tompson, Tianli Ding, James Betker, Robert Baruch, Travis Armstrong, Pete Florence

2210.06407

HoME: a Household Multimodal Environment

Simon Brodeur, Ethan Perez, Ankesh Anand, Florian Golemo, Luca Celotti, Florian Strub, Jean Rouat, Hugo Larochelle, Aaron Courville

1711.11017

Overcoming Exploration in Reinforcement Learning with Demonstrations

Ashvin Nair, Bob McGrew, Marcin Andrychowicz, Wojciech Zaremba, Pieter Abbeel

1709.10089

ChainQueen: A Real-Time Differentiable Physical Simulator for Soft Robotics

Yuanming Hu, Jiancheng Liu, Andrew Spielberg, Joshua B. Tenenbaum, William T. Freeman, Jiajun Wu, Daniela Rus, Wojciech Matusik

1810.01054

Gradient Surgery for Multi-Task Learning

Tianhe Yu, Saurabh Kumar, Abhishek Gupta, Sergey Levine, Karol Hausman, Chelsea Finn

2001.06782

Deep Parametric Continuous Convolutional Neural Networks

Shenlong Wang, Simon Suo, Wei-Chiu Ma, Andrei Pokrovsky, Raquel Urtasun

2101.06742

Visual Language Maps for Robot Navigation

Chenguang Huang, Oier Mees, Andy Zeng, Wolfram Burgard

2210.05714

Off-policy Learning with Eligibility Traces: A Survey

Matthieu Geist, Bruno Scherrer

1304.3999

MINOS: Multimodal Indoor Simulator for Navigation in Complex Environments

Manolis Savva, Angel X. Chang, Alexey Dosovitskiy, Thomas Funkhouser, Vladlen Koltun

1712.03931

Cognitive Mapping and Planning for Visual Navigation

Saurabh Gupta, Varun Tolani, James Davidson, Sergey Levine, Rahul Sukthankar, Jitendra Malik

1702.03920

Vote3Deep: Fast Object Detection in 3D Point Clouds Using Efficient Convolutional Neural Networks

Martin Engelcke, Dushyant Rao, Dominic Zeng Wang, Chi Hay Tong, Ingmar Posner

1609.06666

Self-Supervised Visual Planning with Temporal Skip Connections

Frederik Ebert, Chelsea Finn, Alex X. Lee, Sergey Levine

1710.05268

InteriorNet: Mega-scale Multi-sensor Photo-realistic Indoor Scenes Dataset

Wenbin Li, Sajad Saeedi, John McCormac, Ronald Clark, Dimos Tzoumanikas, Qing Ye, Yuzhong Huang, Rui Tang, Stefan Leutenegger

1809.00716

GAIA-1: A Generative World Model for Autonomous Driving

Anthony Hu, Lloyd Russell, Hudson Yeo, Zak Murez, George Fedoseev, Alex Kendall, Jamie Shotton, Gianluca Corrado

2309.17080

robosuite: A Modular Simulation Framework and Benchmark for Robot Learning

Yuke Zhu, Josiah Wong, Ajay Mandlekar, Roberto Martín-Martín, Abhishek Joshi, Kevin Lin, Abhiram Maddukuri, Soroush Nasiriany, Yifeng Zhu

2009.12293

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

2108.09779

Barkour: Benchmarking Animal-level Agility with Quadruped Robots

Ken Caluwaerts, Atil Iscen, J. Chase Kew, Wenhao Yu, Tingnan Zhang, Daniel Freeman, Kuang-Huei Lee, Lisa Lee, Stefano Saliceti, Vincent Zhuang, Nathan Batchelor, Steven Bohez, Federico Casarini, Jose Enrique Chen, Omar Cortes, Erwin Coumans, Adil Dostmohamed, Gabriel Dulac-Arnold, Alejandro Escontrela, Erik Frey, Roland Hafner, Deepali Jain, Bauyrjan Jyenis, Yuheng Kuang, Edward Lee, Linda Luu, Ofir Nachum, Ken Oslund, Jason Powell, Diego Reyes, Francesco Romano, Feresteh Sadeghi, Ron Sloat, Baruch Tabanpour, Daniel Zheng, Michael Neunert, Raia Hadsell, Nicolas Heess, Francesco Nori, Jeff Seto, Carolina Parada, Vikas Sindhwani, Vincent Vanhoucke, Jie Tan

2305.14654

Inner Monologue: Embodied Reasoning through Planning with Language Models

Wenlong Huang, Fei Xia, Ted Xiao, Harris Chan, Jacky Liang, Pete Florence, Andy Zeng, Jonathan Tompson, Igor Mordatch, Yevgen Chebotar, Pierre Sermanet, Noah Brown, Tomas Jackson, Linda Luu, Sergey Levine, Karol Hausman, Brian Ichter

2207.05608

Using Geometry to Detect Grasps in 3D Point Clouds

Andreas ten Pas, Robert Platt

1501.03100

ObjectNav Revisited: On Evaluation of Embodied Agents Navigating to Objects

Dhruv Batra, Aaron Gokaslan, Aniruddha Kembhavi, Oleksandr Maksymets, Roozbeh Mottaghi, Manolis Savva, Alexander Toshev, Erik Wijmans

2006.13171

GPU-Accelerated Robotic Simulation for Distributed Reinforcement Learning

Jacky Liang, Viktor Makoviychuk, Ankur Handa, Nuttapong Chentanez, Miles Macklin, Dieter Fox

1810.05762

Focus Is All You Need: Loss Functions For Event-based Vision

Guillermo Gallego, Mathias Gehrig, Davide Scaramuzza

1904.07235

Robust, Occlusion-aware Pose Estimation for Objects Grasped by Adaptive Hands

Bowen Wen, Chaitanya Mitash, Sruthi Soorian, Andrew Kimmel, Avishai Sintov, Kostas E. Bekris

2003.03518

NAVSIM: Data-Driven Non-Reactive Autonomous Vehicle Simulation and Benchmarking

Daniel Dauner, Marcel Hallgarten, Tianyu Li, Xinshuo Weng, Zhiyu Huang, Zetong Yang, Hongyang Li, Igor Gilitschenski, Boris Ivanovic, Marco Pavone, Andreas Geiger, Kashyap Chitta

2406.15349

Diffusion Forcing: Next-token Prediction Meets Full-Sequence Diffusion

Boyuan Chen, Diego Marti Monso, Yilun Du, Max Simchowitz, Russ Tedrake, Vincent Sitzmann

2407.01392

Symmetry and Uncertainty-Aware Object SLAM for 6DoF Object Pose Estimation

Nathaniel Merrill, Yuliang Guo, Xingxing Zuo, Xinyu Huang, Stefan Leutenegger, Xi Peng, Liu Ren, Guoquan Huang

2205.01823

Unseen Object Instance Segmentation for Robotic Environments

Christopher Xie, Yu Xiang, Arsalan Mousavian, Dieter Fox

2007.08073

On Bringing Robots Home

Nur Muhammad Mahi Shafiullah, Anant Rai, Haritheja Etukuru, Yiqian Liu, Ishan Misra, Soumith Chintala, Lerrel Pinto

2311.16098

One-Shot Imitation from Observing Humans via Domain-Adaptive Meta-Learning

Tianhe Yu, Chelsea Finn, Annie Xie, Sudeep Dasari, Tianhao Zhang, Pieter Abbeel, Sergey Levine

1802.01557

LaserNet: An Efficient Probabilistic 3D Object Detector for Autonomous Driving

Gregory P. Meyer, Ankit Laddha, Eric Kee, Carlos Vallespi-Gonzalez, Carl K. Wellington

1903.08701

TriFinger: An Open-Source Robot for Learning Dexterity

Manuel Wüthrich, Felix Widmaier, Felix Grimminger, Joel Akpo, Shruti Joshi, Vaibhav Agrawal, Bilal Hammoud, Majid Khadiv, Miroslav Bogdanovic, Vincent Berenz, Julian Viereck, Maximilien Naveau, Ludovic Righetti, Bernhard Schölkopf, Stefan Bauer

2008.03596

AirExo: Low-Cost Exoskeletons for Learning Whole-Arm Manipulation in the Wild

Hongjie Fang, Hao-Shu Fang, Yiming Wang, Jieji Ren, Jingjing Chen, Ruo Zhang, Weiming Wang, Cewu Lu

2309.14975

CausalWorld: A Robotic Manipulation Benchmark for Causal Structure and Transfer Learning

Ossama Ahmed, Frederik Träuble, Anirudh Goyal, Alexander Neitz, Yoshua Bengio, Bernhard Schölkopf, Manuel Wüthrich, Stefan Bauer

2010.04296

Sim-to-Real Reinforcement Learning for Deformable Object Manipulation

Jan Matas, Stephen James, Andrew J. Davison

1806.07851

Explaining How a Deep Neural Network Trained with End-to-End Learning Steers a Car

Mariusz Bojarski, Philip Yeres, Anna Choromanska, Krzysztof Choromanski, Bernhard Firner, Lawrence Jackel, Urs Muller

1704.07911

DeXtreme: Transfer of Agile In-hand Manipulation from Simulation to Reality

Ankur Handa, Arthur Allshire, Viktor Makoviychuk, Aleksei Petrenko, Ritvik Singh, Jingzhou Liu, Denys Makoviichuk, Karl Van Wyk, Alexander Zhurkevich, Balakumar Sundaralingam, Yashraj Narang, Jean-Francois Lafleche, Dieter Fox, Gavriel State

2210.13702

Learning Multi-Object Dynamics with Compositional Neural Radiance Fields

Danny Driess, Zhiao Huang, Yunzhu Li, Russ Tedrake, Marc Toussaint

2202.11855

Learning a visuomotor controller for real world robotic grasping using simulated depth images

Ulrich Viereck, Andreas ten Pas, Kate Saenko, Robert Platt

1706.04652

Unsupervised Learning for Physical Interaction through Video Prediction

Chelsea Finn, Ian Goodfellow, Sergey Levine

1605.07157

Modelling Uncertainty in Deep Learning for Camera Relocalization

Alex Kendall, Roberto Cipolla

1509.05909

Object Goal Navigation using Goal-Oriented Semantic Exploration

Devendra Singh Chaplot, Dhiraj Gandhi, Abhinav Gupta, Ruslan Salakhutdinov

2007.00643

The Regretful Agent: Heuristic-Aided Navigation through Progress Estimation

Chih-Yao Ma, Zuxuan Wu, Ghassan AlRegib, Caiming Xiong, Zsolt Kira

1903.01602

Zero-Shot Visual Imitation

Deepak Pathak, Parsa Mahmoudieh, Guanghao Luo, Pulkit Agrawal, Dian Chen, Yide Shentu, Evan Shelhamer, Jitendra Malik, Alexei A. Efros, Trevor Darrell

1804.08606

Multimodal Virtual Point 3D Detection

Tianwei Yin, Xingyi Zhou, Philipp Krähenbühl

2111.06881

Semantic3D.net: A new Large-scale Point Cloud Classification Benchmark

Timo Hackel, Nikolay Savinov, Lubor Ladicky, Jan D. Wegner, Konrad Schindler, Marc Pollefeys

1704.03847

Pillar-based Object Detection for Autonomous Driving

Yue Wang, Alireza Fathi, Abhijit Kundu, David Ross, Caroline Pantofaru, Thomas Funkhouser, Justin Solomon

2007.10323

Taskonomy: Disentangling Task Transfer Learning

Amir Zamir, Alexander Sax, William Shen, Leonidas Guibas, Jitendra Malik, Silvio Savarese

1804.08328

CLIPort: What and Where Pathways for Robotic Manipulation

Mohit Shridhar, Lucas Manuelli, Dieter Fox

2109.12098

SurfEmb: Dense and Continuous Correspondence Distributions for Object Pose Estimation with Learnt Surface Embeddings

Rasmus Laurvig Haugaard, Anders Glent Buch

2111.13489

Latency-Aware Collaborative Perception

Zixing Lei, Shunli Ren, Yue Hu, Wenjun Zhang, Siheng Chen

2207.08560

Learning Symmetric and Low-energy Locomotion

Wenhao Yu, Greg Turk, C. Karen Liu

1801.08093

Large-Scale Study of Curiosity-Driven Learning

Yuri Burda, Harri Edwards, Deepak Pathak, Amos Storkey, Trevor Darrell, Alexei A. Efros

1808.04355

FFB6D: A Full Flow Bidirectional Fusion Network for 6D Pose Estimation

Yisheng He, Haibin Huang, Haoqiang Fan, Qifeng Chen, Jian Sun

2103.02242

Deep Learning for Detecting Robotic Grasps

Ian Lenz, Honglak Lee, Ashutosh Saxena

1301.3592

RoboAgent: Generalization and Efficiency in Robot Manipulation via Semantic Augmentations and Action Chunking

Homanga Bharadhwaj, Jay Vakil, Mohit Sharma, Abhinav Gupta, Shubham Tulsiani, Vikash Kumar

2309.01918

Grasp Pose Detection in Point Clouds

Andreas ten Pas, Marcus Gualtieri, Kate Saenko, Robert Platt

1706.09911

PCN: Point Completion Network

Wentao Yuan, Tejas Khot, David Held, Christoph Mertz, Martial Hebert

1808.00671

ProgPrompt: Generating Situated Robot Task Plans using Large Language Models

Ishika Singh, Valts Blukis, Arsalan Mousavian, Ankit Goyal, Danfei Xu, Jonathan Tremblay, Dieter Fox, Jesse Thomason, Animesh Garg

2209.11302

Learning High-DOF Reaching-and-Grasping via Dynamic Representation of Gripper-Object Interaction

Qijin She, Ruizhen Hu, Juzhan Xu, Min Liu, Kai Xu, Hui Huang

2204.13998

Fast and Feature-Complete Differentiable Physics for Articulated Rigid Bodies with Contact

Keenon Werling, Dalton Omens, Jeongseok Lee, Ioannis Exarchos, C. Karen Liu

2103.16021

PanopticFusion: Online Volumetric Semantic Mapping at the Level of Stuff and Things

Gaku Narita, Takashi Seno, Tomoya Ishikawa, Yohsuke Kaji

1903.01177

Hindsight Experience Replay

Marcin Andrychowicz, Filip Wolski, Alex Ray, Jonas Schneider, Rachel Fong, Peter Welinder, Bob McGrew, Josh Tobin, Pieter Abbeel, Wojciech Zaremba

1707.01495

Who2com: Collaborative Perception via Learnable Handshake Communication

Yen-Cheng Liu, Junjiao Tian, Chih-Yao Ma, Nathan Glaser, Chia-Wen Kuo, Zsolt Kira

2003.09575

Vision and Learning for Deliberative Monocular Cluttered Flight

Debadeepta Dey, Kumar Shaurya Shankar, Sam Zeng, Rupesh Mehta, M. Talha Agcayazi, Christopher Eriksen, Shreyansh Daftry, Martial Hebert, J. Andrew Bagnell

1411.6326

EPOS: Estimating 6D Pose of Objects with Symmetries

Tomas Hodan, Daniel Barath, Jiri Matas

2004.00605

Meta-Reinforcement Learning for Robotic Industrial Insertion Tasks

Gerrit Schoettler, Ashvin Nair, Juan Aparicio Ojea, Sergey Levine, Eugen Solowjow

2004.14404

Volumetric Instance-Aware Semantic Mapping and 3D Object Discovery

Margarita Grinvald, Fadri Furrer, Tonci Novkovic, Jen Jen Chung, Cesar Cadena, Roland Siegwart, Juan Nieto

1903.00268

Sim2Real View Invariant Visual Servoing by Recurrent Control

Fereshteh Sadeghi, Alexander Toshev, Eric Jang, Sergey Levine

1712.07642

Accelerated Policy Learning with Parallel Differentiable Simulation

Jie Xu, Viktor Makoviychuk, Yashraj Narang, Fabio Ramos, Wojciech Matusik, Animesh Garg, Miles Macklin

2204.07137

Dream to Control: Learning Behaviors by Latent Imagination

Danijar Hafner, Timothy Lillicrap, Jimmy Ba, Mohammad Norouzi

1912.01603

Masked Visual Pre-training for Motor Control

Tete Xiao, Ilija Radosavovic, Trevor Darrell, Jitendra Malik

2203.06173

Multi-Task Domain Adaptation for Deep Learning of Instance Grasping from Simulation

Kuan Fang, Yunfei Bai, Stefan Hinterstoisser, Silvio Savarese, Mrinal Kalakrishnan

1710.06422

Learning Distilled Collaboration Graph for Multi-Agent Perception

Yiming Li, Shunli Ren, Pengxiang Wu, Siheng Chen, Chen Feng, Wenjun Zhang

2111.00643

Learning Rich Features from RGB-D Images for Object Detection and Segmentation

Saurabh Gupta, Ross Girshick, Pablo Arbeláez, Jitendra Malik

1407.5736

Visual Imitation Made Easy

Sarah Young, Dhiraj Gandhi, Shubham Tulsiani, Abhinav Gupta, Pieter Abbeel, Lerrel Pinto

2008.04899

Imitation from Observation: Learning to Imitate Behaviors from Raw Video via Context Translation

YuXuan Liu, Abhishek Gupta, Pieter Abbeel, Sergey Levine

1707.03374

Neural Network Dynamics for Model-Based Deep Reinforcement Learning with Model-Free Fine-Tuning

Anusha Nagabandi, Gregory Kahn, Ronald S. Fearing, Sergey Levine

1708.02596

Dense Object Nets: Learning Dense Visual Object Descriptors By and For Robotic Manipulation

Peter R. Florence, Lucas Manuelli, Russ Tedrake

1806.08756

FS6D: Few-Shot 6D Pose Estimation of Novel Objects

Yisheng He, Yao Wang, Haoqiang Fan, Jian Sun, Qifeng Chen

2203.14628

Simultaneous Feature and Body-Part Learning for Real-Time Robot Awareness of Human Behaviors

Fei Han, Xue Yang, Christopher Reardon, Yu Zhang, Hao Zhang

1702.07474

Human Hands as Probes for Interactive Object Understanding

Mohit Goyal, Sahil Modi, Rishabh Goyal, Saurabh Gupta

2112.09120

On the Limitations of Representing Functions on Sets

Edward Wagstaff, Fabian B. Fuchs, Martin Engelcke, Ingmar Posner, Michael Osborne

1901.09006

LLM as A Robotic Brain: Unifying Egocentric Memory and Control

Jinjie Mai, Jun Chen, Bing Li, Guocheng Qian, Mohamed Elhoseiny, Bernard Ghanem

2304.09349

ALFRED: A Benchmark for Interpreting Grounded Instructions for Everyday Tasks

Mohit Shridhar, Jesse Thomason, Daniel Gordon, Yonatan Bisk, Winson Han, Roozbeh Mottaghi, Luke Zettlemoyer, Dieter Fox

1912.01734

Orbit: A Unified Simulation Framework for Interactive Robot Learning Environments

Mayank Mittal, Calvin Yu, Qinxi Yu, Jingzhou Liu, Nikita Rudin, David Hoeller, Jia Lin Yuan, Ritvik Singh, Yunrong Guo, Hammad Mazhar, Ajay Mandlekar, Buck Babich, Gavriel State, Marco Hutter, Animesh Garg

2301.04195

One-Shot Imitation Learning: A Pose Estimation Perspective

Pietro Vitiello, Kamil Dreczkowski, Edward Johns

2310.12077

Language Models as Zero-Shot Planners: Extracting Actionable Knowledge for Embodied Agents

Wenlong Huang, Pieter Abbeel, Deepak Pathak, Igor Mordatch

2201.07207

A Walk in the Park: Learning to Walk in 20 Minutes With Model-Free Reinforcement Learning

Laura Smith, Ilya Kostrikov, Sergey Levine

2208.07860

Keypoints into the Future: Self-Supervised Correspondence in Model-Based Reinforcement Learning

Lucas Manuelli, Yunzhu Li, Pete Florence, Russ Tedrake

2009.05085

Grasp'D: Differentiable Contact-rich Grasp Synthesis for Multi-fingered Hands

Dylan Turpin, Liquan Wang, Eric Heiden, Yun-Chun Chen, Miles Macklin, Stavros Tsogkas, Sven Dickinson, Animesh Garg

2208.12250

RoboTAP: Tracking Arbitrary Points for Few-Shot Visual Imitation

Mel Vecerik, Carl Doersch, Yi Yang, Todor Davchev, Yusuf Aytar, Guangyao Zhou, Raia Hadsell, Lourdes Agapito, Jon Scholz

2308.15975

PoseCNN: A Convolutional Neural Network for 6D Object Pose Estimation in Cluttered Scenes

Yu Xiang, Tanner Schmidt, Venkatraman Narayanan, Dieter Fox

1711.00199

LIV: Language-Image Representations and Rewards for Robotic Control

Yecheng Jason Ma, William Liang, Vaidehi Som, Vikash Kumar, Amy Zhang, Osbert Bastani, Dinesh Jayaraman

2306.00958

GDRNPP: A Geometry-guided and Fully Learning-based Object Pose Estimator

Xingyu Liu, Ruida Zhang, Chenyangguang Zhang, Gu Wang, Jiwen Tang, Zhigang Li, Xiangyang Ji

2102.12145

DriveGAN: Towards a Controllable High-Quality Neural Simulation

Seung Wook Kim, Jonah Philion, Antonio Torralba, Sanja Fidler

2104.15060

CACTI: A Framework for Scalable Multi-Task Multi-Scene Visual Imitation Learning

Zhao Mandi, Homanga Bharadhwaj, Vincent Moens, Shuran Song, Aravind Rajeswaran, Vikash Kumar

2212.05711

Progressive Reinforcement Learning with Distillation for Multi-Skilled Motion Control

Glen Berseth, Cheng Xie, Paul Cernek, Michiel Van de Panne

1802.04765

Neural Task Graphs: Generalizing to Unseen Tasks from a Single Video Demonstration

De-An Huang, Suraj Nair, Danfei Xu, Yuke Zhu, Animesh Garg, Li Fei-Fei, Silvio Savarese, Juan Carlos Niebles

1807.03480

Recognition and Prediction of Surgical Gestures and Trajectories Using Transformer Models in Robot-Assisted Surgery

Chang Shi, Yi Zheng, Ann Majewicz Fey

2212.01683

Solving Rubik's Cube with a Robot Hand

OpenAI, Ilge Akkaya, Marcin Andrychowicz, Maciek Chociej, Mateusz Litwin, Bob McGrew, Arthur Petron, Alex Paino, Matthias Plappert, Glenn Powell, Raphael Ribas, Jonas Schneider, Nikolas Tezak, Jerry Tworek, Peter Welinder, Lilian Weng, Qiming Yuan, Wojciech Zaremba, Lei Zhang

1910.07113

Baidu Apollo EM Motion Planner

Haoyang Fan, Fan Zhu, Changchun Liu, Liangliang Zhang, Li Zhuang, Dong Li, Weicheng Zhu, Jiangtao Hu, Hongye Li, Qi Kong

1807.08048

Watch This: Scalable Cost-Function Learning for Path Planning in Urban Environments

Markus Wulfmeier, Dominic Zeng Wang, Ingmar Posner

1607.02329

Deep Learning for 3D Point Clouds: A Survey

Yulan Guo, Hanyun Wang, Qingyong Hu, Hao Liu, Li Liu, Mohammed Bennamoun

1912.12033

Single-Stage Keypoint-Based Category-Level Object Pose Estimation from an RGB Image

Yunzhi Lin, Jonathan Tremblay, Stephen Tyree, Patricio A. Vela, Stan Birchfield

2109.06161

Objaverse: A Universe of Annotated 3D Objects

Matt Deitke, Dustin Schwenk, Jordi Salvador, Luca Weihs, Oscar Michel, Eli VanderBilt, Ludwig Schmidt, Kiana Ehsani, Aniruddha Kembhavi, Ali Farhadi

2212.08051

Building with Drones: Accurate 3D Facade Reconstruction using MAVs

Shreyansh Daftry, Christof Hoppe, Horst Bischof

1502.07019

LESS: Label-Efficient Semantic Segmentation for LiDAR Point Clouds

Minghua Liu, Yin Zhou, Charles R. Qi, Boqing Gong, Hao Su, Dragomir Anguelov

2210.08064

A Generalist Agent

Scott Reed, Konrad Zolna, Emilio Parisotto, Sergio Gomez Colmenarejo, Alexander Novikov, Gabriel Barth-Maron, Mai Gimenez, Yury Sulsky, Jackie Kay, Jost Tobias Springenberg, Tom Eccles, Jake Bruce, Ali Razavi, Ashley Edwards, Nicolas Heess, Yutian Chen, Raia Hadsell, Oriol Vinyals, Mahyar Bordbar, Nando de Freitas

2205.06175

Collective Robot Reinforcement Learning with Distributed Asynchronous Guided Policy Search

Ali Yahya, Adrian Li, Mrinal Kalakrishnan, Yevgen Chebotar, Sergey Levine

1610.00673

Simultaneous Edge Alignment and Learning

Zhiding Yu, Weiyang Liu, Yang Zou, Chen Feng, Srikumar Ramalingam, B. V. K. Vijaya Kumar, Jan Kautz

1808.01992

PixelNet: Representation of the pixels, by the pixels, and for the pixels

Aayush Bansal, Xinlei Chen, Bryan Russell, Abhinav Gupta, Deva Ramanan

1702.06506

Propagation Networks for Model-Based Control Under Partial Observation

Yunzhu Li, Jiajun Wu, Jun-Yan Zhu, Joshua B. Tenenbaum, Antonio Torralba, Russ Tedrake

1809.11169

UniDexGrasp++: Improving Dexterous Grasping Policy Learning via Geometry-aware Curriculum and Iterative Generalist-Specialist Learning

Weikang Wan, Haoran Geng, Yun Liu, Zikang Shan, Yaodong Yang, Li Yi, He Wang

2304.00464

CPPF: Towards Robust Category-Level 9D Pose Estimation in the Wild

Yang You, Ruoxi Shi, Weiming Wang, Cewu Lu

2203.03089

Reinforcement and Imitation Learning for Diverse Visuomotor Skills

Yuke Zhu, Ziyu Wang, Josh Merel, Andrei Rusu, Tom Erez, Serkan Cabi, Saran Tunyasuvunakool, János Kramár, Raia Hadsell, Nando de Freitas, Nicolas Heess

1802.09564

Last-Mile Embodied Visual Navigation

Justin Wasserman, Karmesh Yadav, Girish Chowdhary, Abhinav Gupta, Unnat Jain

2211.11746

RoCo: Dialectic Multi-Robot Collaboration with Large Language Models

Zhao Mandi, Shreeya Jain, Shuran Song

2307.04738

Visual Reinforcement Learning with Imagined Goals

Ashvin Nair, Vitchyr Pong, Murtaza Dalal, Shikhar Bahl, Steven Lin, Sergey Levine

1807.04742

GenDexGrasp: Generalizable Dexterous Grasping

Puhao Li, Tengyu Liu, Yuyang Li, Yiran Geng, Yixin Zhu, Yaodong Yang, Siyuan Huang

2210.00722

EPOpt: Learning Robust Neural Network Policies Using Model Ensembles

Aravind Rajeswaran, Sarvjeet Ghotra, Balaraman Ravindran, Sergey Levine

1610.01283

Task-driven Perception and Manipulation for Constrained Placement of Unknown Objects

Chaitanya Mitash, Rahul Shome, Bowen Wen, Abdeslam Boularias, Kostas Bekris

2006.15503

ViNT: A Foundation Model for Visual Navigation

Dhruv Shah, Ajay Sridhar, Nitish Dashora, Kyle Stachowicz, Kevin Black, Noriaki Hirose, Sergey Levine

2306.14846

Towards Learning a Generic Agent for Vision-and-Language Navigation via Pre-training

Weituo Hao, Chunyuan Li, Xiujun Li, Lawrence Carin, Jianfeng Gao

2002.10638

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

2210.03094

6-PACK: Category-level 6D Pose Tracker with Anchor-Based Keypoints

Chen Wang, Roberto Martín-Martín, Danfei Xu, Jun Lv, Cewu Lu, Li Fei-Fei, Silvio Savarese, Yuke Zhu

1910.10750

6-DoF Object Pose from Semantic Keypoints

Georgios Pavlakos, Xiaowei Zhou, Aaron Chan, Konstantinos G. Derpanis, Kostas Daniilidis

1703.04670

Code as Policies: Language Model Programs for Embodied Control

Jacky Liang, Wenlong Huang, Fei Xia, Peng Xu, Karol Hausman, Brian Ichter, Pete Florence, Andy Zeng

2209.07753

RRL: Resnet as representation for Reinforcement Learning

Rutav Shah, Vikash Kumar

2107.03380

Habitat 2.0: Training Home Assistants to Rearrange their Habitat

Andrew Szot, Alex Clegg, Eric Undersander, Erik Wijmans, Yili Zhao, John Turner, Noah Maestre, Mustafa Mukadam, Devendra Chaplot, Oleksandr Maksymets, Aaron Gokaslan, Vladimir Vondrus, Sameer Dharur, Franziska Meier, Wojciech Galuba, Angel Chang, Zsolt Kira, Vladlen Koltun, Jitendra Malik, Manolis Savva, Dhruv Batra

2106.14405

XIRL: Cross-embodiment Inverse Reinforcement Learning

Kevin Zakka, Andy Zeng, Pete Florence, Jonathan Tompson, Jeannette Bohg, Debidatta Dwibedi

2106.03911

Neural Topological SLAM for Visual Navigation

Devendra Singh Chaplot, Ruslan Salakhutdinov, Abhinav Gupta, Saurabh Gupta

2005.12256

Incremental Visual-Inertial 3D Mesh Generation with Structural Regularities

Antoni Rosinol, Torsten Sattler, Marc Pollefeys, Luca Carlone

1903.01067

Open X-Embodiment: Robotic Learning Datasets and RT-X Models

Open X-Embodiment Collaboration, Abby O'Neill, Abdul Rehman, Abhinav Gupta, Abhiram Maddukuri, Abhishek Gupta, Abhishek Padalkar, Abraham Lee, Acorn Pooley, Agrim Gupta, Ajay Mandlekar, Ajinkya Jain, Albert Tung, Alex Bewley, Alex Herzog, Alex Irpan, Alexander Khazatsky, Anant Rai, Anchit Gupta, Andrew Wang, Andrey Kolobov, Anikait Singh, Animesh Garg, Aniruddha Kembhavi, Annie Xie, Anthony Brohan, Antonin Raffin, Archit Sharma, Arefeh Yavary, Arhan Jain, Ashwin Balakrishna, Ayzaan Wahid, Ben Burgess-Limerick, Beomjoon Kim, Bernhard Schölkopf, Blake Wulfe, Brian Ichter, Cewu Lu, Charles Xu, Charlotte Le, Chelsea Finn, Chen Wang, Chenfeng Xu, Cheng Chi, Chenguang Huang, Christine Chan, Christopher Agia, Chuer Pan, Chuyuan Fu, Coline Devin, Danfei Xu, Daniel Morton, Danny Driess, Daphne Chen, Deepak Pathak, Dhruv Shah, Dieter Büchler, Dinesh Jayaraman, Dmitry Kalashnikov, Dorsa Sadigh, Edward Johns, Ethan Foster, Fangchen Liu, Federico Ceola, Fei Xia, Feiyu Zhao, Felipe Vieira Frujeri, Freek Stulp, Gaoyue Zhou, Gaurav S. Sukhatme, Gautam Salhotra, Ge Yan, Gilbert Feng, Giulio Schiavi, Glen Berseth, Gregory Kahn, Guangwen Yang, Guanzhi Wang, Hao Su, Hao-Shu Fang, Haochen Shi, Henghui Bao, Heni Ben Amor, Henrik I Christensen, Hiroki Furuta, Homanga Bharadhwaj, Homer Walke, Hongjie Fang, Huy Ha, Igor Mordatch, Ilija Radosavovic, Isabel Leal, Jacky Liang, Jad Abou-Chakra, Jaehyung Kim, Jaimyn Drake, Jan Peters, Jan Schneider, Jasmine Hsu, Jay Vakil, Jeannette Bohg, Jeffrey Bingham, Jeffrey Wu, Jensen Gao, Jiaheng Hu, Jiajun Wu, Jialin Wu, Jiankai Sun, Jianlan Luo, Jiayuan Gu, Jie Tan, Jihoon Oh, Jimmy Wu, Jingpei Lu, Jingyun Yang, Jitendra Malik, João Silvério, Joey Hejna, Jonathan Booher, Jonathan Tompson, Jonathan Yang, Jordi Salvador, Joseph J. Lim, Junhyek Han, Kaiyuan Wang, Kanishka Rao, Karl Pertsch, Karol Hausman, Keegan Go, Keerthana Gopalakrishnan, Ken Goldberg, Kendra Byrne, Kenneth Oslund, Kento Kawaharazuka, Kevin Black, Kevin Lin, Kevin Zhang, Kiana Ehsani, Kiran Lekkala, Kirsty Ellis, Krishan Rana, Krishnan Srinivasan, Kuan Fang, Kunal Pratap Singh, Kuo-Hao Zeng, Kyle Hatch, Kyle Hsu, Laurent Itti, Lawrence Yunliang Chen, Lerrel Pinto, Li Fei-Fei, Liam Tan, Linxi "Jim" Fan, Lionel Ott, Lisa Lee, Luca Weihs, Magnum Chen, Marion Lepert, Marius Memmel, Masayoshi Tomizuka, Masha Itkina, Mateo Guaman Castro, Max Spero, Maximilian Du, Michael Ahn, Michael C. Yip, Mingtong Zhang, Mingyu Ding, Minho Heo, Mohan Kumar Srirama, Mohit Sharma, Moo Jin Kim, Muhammad Zubair Irshad, Naoaki Kanazawa, Nicklas Hansen, Nicolas Heess, Nikhil J Joshi, Niko Suenderhauf, Ning Liu, Norman Di Palo, Nur Muhammad Mahi Shafiullah, Oier Mees, Oliver Kroemer, Osbert Bastani, Pannag R Sanketi, Patrick "Tree" Miller, Patrick Yin, Paul Wohlhart, Peng Xu, Peter David Fagan, Peter Mitrano, Pierre Sermanet, Pieter Abbeel, Priya Sundaresan, Qiuyu Chen, Quan Vuong, Rafael Rafailov, Ran Tian, Ria Doshi, Roberto Martín-Martín, Rohan Baijal, Rosario Scalise, Rose Hendrix, Roy Lin, Runjia Qian, Ruohan Zhang, Russell Mendonca, Rutav Shah, Ryan Hoque, Ryan Julian, Samuel Bustamante, Sean Kirmani, Sergey Levine, Shan Lin, Sherry Moore, Shikhar Bahl, Shivin Dass, Shubham Sonawani, Shubham Tulsiani, Shuran Song, Sichun Xu, Siddhant Haldar, Siddharth Karamcheti, Simeon Adebola, Simon Guist, Soroush Nasiriany, Stefan Schaal, Stefan Welker, Stephen Tian, Subramanian Ramamoorthy, Sudeep Dasari, Suneel Belkhale, Sungjae Park, Suraj Nair, Suvir Mirchandani, Takayuki Osa, Tanmay Gupta, Tatsuya Harada, Tatsuya Matsushima, Ted Xiao, Thomas Kollar, Tianhe Yu, Tianli Ding, Todor Davchev, Tony Z. Zhao, Travis Armstrong, Trevor Darrell, Trinity Chung, Vidhi Jain, Vikash Kumar, Vincent Vanhoucke, Vitor Guizilini, Wei Zhan, Wenxuan Zhou, Wolfram Burgard, Xi Chen, Xiangyu Chen, Xiaolong Wang, Xinghao Zhu, Xinyang Geng, Xiyuan Liu, Xu Liangwei, Xuanlin Li, Yansong Pang, Yao Lu, Yecheng Jason Ma, Yejin Kim, Yevgen Chebotar, Yifan Zhou, Yifeng Zhu, Yilin Wu, Ying Xu, Yixuan Wang, Yonatan Bisk, Yongqiang Dou, Yoonyoung Cho, Youngwoon Lee, Yuchen Cui, Yue Cao, Yueh-Hua Wu, Yujin Tang, Yuke Zhu, Yunchu Zhang, Yunfan Jiang, Yunshuang Li, Yunzhu Li, Yusuke Iwasawa, Yutaka Matsuo, Zehan Ma, Zhuo Xu, Zichen Jeff Cui, Zichen Zhang, Zipeng Fu, Zipeng Lin

2310.08864

Feedback Control For Cassie With Deep Reinforcement Learning

Zhaoming Xie, Glen Berseth, Patrick Clary, Jonathan Hurst, Michiel van de Panne

1803.05580

Robust Filtering and Smoothing with Gaussian Processes

Marc Peter Deisenroth, Ryan Turner, Marco F. Huber, Uwe D. Hanebeck, Carl Edward Rasmussen

1203.4345

BC-Z: Zero-Shot Task Generalization with Robotic Imitation Learning

Eric Jang, Alex Irpan, Mohi Khansari, Daniel Kappler, Frederik Ebert, Corey Lynch, Sergey Levine, Chelsea Finn

2202.02005

Open3D: A Modern Library for 3D Data Processing

Qian-Yi Zhou, Jaesik Park, Vladlen Koltun

1801.09847

MonoScene: Monocular 3D Semantic Scene Completion

Anh-Quan Cao, Raoul de Charette

2112.00726

Do As I Can, Not As I Say: Grounding Language in Robotic Affordances

Michael Ahn, Anthony Brohan, Noah Brown, Yevgen Chebotar, Omar Cortes, Byron David, Chelsea Finn, Chuyuan Fu, Keerthana Gopalakrishnan, Karol Hausman, Alex Herzog, Daniel Ho, Jasmine Hsu, Julian Ibarz, Brian Ichter, Alex Irpan, Eric Jang, Rosario Jauregui Ruano, Kyle Jeffrey, Sally Jesmonth, Nikhil J Joshi, Ryan Julian, Dmitry Kalashnikov, Yuheng Kuang, Kuang-Huei Lee, Sergey Levine, Yao Lu, Linda Luu, Carolina Parada, Peter Pastor, Jornell Quiambao, Kanishka Rao, Jarek Rettinghouse, Diego Reyes, Pierre Sermanet, Nicolas Sievers, Clayton Tan, Alexander Toshev, Vincent Vanhoucke, Fei Xia, Ted Xiao, Peng Xu, Sichun Xu, Mengyuan Yan, Andy Zeng

2204.01691

ProAgent: From Robotic Process Automation to Agentic Process Automation

Yining Ye, Xin Cong, Shizuo Tian, Jiannan Cao, Hao Wang, Yujia Qin, Yaxi Lu, Heyang Yu, Huadong Wang, Yankai Lin, Zhiyuan Liu, Maosong Sun

2311.10751

LLM+P: Empowering Large Language Models with Optimal Planning Proficiency

Bo Liu, Yuqian Jiang, Xiaohan Zhang, Qiang Liu, Shiqi Zhang, Joydeep Biswas, Peter Stone

2304.11477

Reshaping Robot Trajectories Using Natural Language Commands: A Study of Multi-Modal Data Alignment Using Transformers

Arthur Bucker, Luis Figueredo, Sami Haddadin, Ashish Kapoor, Shuang Ma, Rogerio Bonatti

2203.13411

Automatic Goal Generation for Reinforcement Learning Agents

Carlos Florensa, David Held, Xinyang Geng, Pieter Abbeel

1705.06366

DexGraspNet: A Large-Scale Robotic Dexterous Grasp Dataset for General Objects Based on Simulation

Ruicheng Wang, Jialiang Zhang, Jiayi Chen, Yinzhen Xu, Puhao Li, Tengyu Liu, He Wang

2210.02697

Expressing Robot Incapability

Minae Kwon, Sandy H. Huang, Anca D. Dragan

1810.08167

Robo-ABC: Affordance Generalization Beyond Categories via Semantic Correspondence for Robot Manipulation

Yuanchen Ju, Kaizhe Hu, Guowei Zhang, Gu Zhang, Mingrun Jiang, Huazhe Xu

2401.07487

Divide-and-Conquer Reinforcement Learning

Dibya Ghosh, Avi Singh, Aravind Rajeswaran, Vikash Kumar, Sergey Levine

1711.09874

Goal Set Inverse Optimal Control and Iterative Re-planning for Predicting Human Reaching Motions in Shared Workspaces

Jim Mainprice, Rafi Hayne, Dmitry Berenson

1606.02111

ProcTHOR: Large-Scale Embodied AI Using Procedural Generation

Matt Deitke, Eli VanderBilt, Alvaro Herrasti, Luca Weihs, Jordi Salvador, Kiana Ehsani, Winson Han, Eric Kolve, Ali Farhadi, Aniruddha Kembhavi, Roozbeh Mottaghi

2206.06994

TidyBot: Personalized Robot Assistance with Large Language Models

Jimmy Wu, Rika Antonova, Adam Kan, Marion Lepert, Andy Zeng, Shuran Song, Jeannette Bohg, Szymon Rusinkiewicz, Thomas Funkhouser

2305.05658

Errors are Useful Prompts: Instruction Guided Task Programming with Verifier-Assisted Iterative Prompting

Marta Skreta, Naruki Yoshikawa, Sebastian Arellano-Rubach, Zhi Ji, Lasse Bjørn Kristensen, Kourosh Darvish, Alán Aspuru-Guzik, Florian Shkurti, Animesh Garg

2303.14100

LatentFusion: End-to-End Differentiable Reconstruction and Rendering for Unseen Object Pose Estimation

Keunhong Park, Arsalan Mousavian, Yu Xiang, Dieter Fox

1912.00416

Locomotion-Action-Manipulation: Synthesizing Human-Scene Interactions in Complex 3D Environments

Jiye Lee, Hanbyul Joo

2301.02667

ChatGPT for Robotics: Design Principles and Model Abilities

Sai Vemprala, Rogerio Bonatti, Arthur Bucker, Ashish Kapoor

2306.17582

Correcting Robot Plans with Natural Language Feedback

Pratyusha Sharma, Balakumar Sundaralingam, Valts Blukis, Chris Paxton, Tucker Hermans, Antonio Torralba, Jacob Andreas, Dieter Fox

2204.05186

CALVIN: A Benchmark for Language-Conditioned Policy Learning for Long-Horizon Robot Manipulation Tasks

Oier Mees, Lukas Hermann, Erick Rosete-Beas, Wolfram Burgard

2112.03227

nuScenes: A multimodal dataset for autonomous driving

Holger Caesar, Varun Bankiti, Alex H. Lang, Sourabh Vora, Venice Erin Liong, Qiang Xu, Anush Krishnan, Yu Pan, Giancarlo Baldan, Oscar Beijbom

1903.11027

Generic 3D Representation via Pose Estimation and Matching

Amir R. Zamir, Tilman Wekel, Pulkit Argrawal, Colin Weil, Jitendra Malik, Silvio Savarese

1710.08247

Symbol Emergence in Robotics: A Survey

Tadahiro Taniguchi, Takayuki Nagai, Tomoaki Nakamura, Naoto Iwahashi, Tetsuya Ogata, Hideki Asoh

1509.08973

Open-vocabulary Queryable Scene Representations for Real World Planning

Boyuan Chen, Fei Xia, Brian Ichter, Kanishka Rao, Keerthana Gopalakrishnan, Michael S. Ryoo, Austin Stone, Daniel Kappler

2209.09874

Sim-to-Real Transfer of Robotic Control with Dynamics Randomization

Xue Bin Peng, Marcin Andrychowicz, Wojciech Zaremba, Pieter Abbeel

1710.06537

Real-World Robot Learning with Masked Visual Pre-training

Ilija Radosavovic, Tete Xiao, Stephen James, Pieter Abbeel, Jitendra Malik, Trevor Darrell

2210.03109

More Than a Feeling: Learning to Grasp and Regrasp using Vision and Touch

Roberto Calandra, Andrew Owens, Dinesh Jayaraman, Justin Lin, Wenzhen Yuan, Jitendra Malik, Edward H. Adelson, Sergey Levine

1805.11085

Google Scanned Objects: A High-Quality Dataset of 3D Scanned Household Items

Laura Downs, Anthony Francis, Nate Koenig, Brandon Kinman, Ryan Hickman, Krista Reymann, Thomas B. McHugh, Vincent Vanhoucke

2204.11918

Transfer from Simulation to Real World through Learning Deep Inverse Dynamics Model

Paul Christiano, Zain Shah, Igor Mordatch, Jonas Schneider, Trevor Blackwell, Joshua Tobin, Pieter Abbeel, Wojciech Zaremba

1610.03518

SparseDFF: Sparse-View Feature Distillation for One-Shot Dexterous Manipulation

Qianxu Wang, Haotong Zhang, Congyue Deng, Yang You, Hao Dong, Yixin Zhu, Leonidas Guibas

2310.16838

LM-Nav: Robotic Navigation with Large Pre-Trained Models of Language, Vision, and Action

Dhruv Shah, Blazej Osinski, Brian Ichter, Sergey Levine

2207.04429

MaskFusion: Real-Time Recognition, Tracking and Reconstruction of Multiple Moving Objects

Martin Rünz, Maud Buffier, Lourdes Agapito

1804.09194

kPAM: KeyPoint Affordances for Category-Level Robotic Manipulation

Lucas Manuelli, Wei Gao, Peter Florence, Russ Tedrake

1903.06684

MyoSuite -- A contact-rich simulation suite for musculoskeletal motor control

Vittorio Caggiano, Huawei Wang, Guillaume Durandau, Massimo Sartori, Vikash Kumar

2205.13600

Learning to Fly by Crashing

Dhiraj Gandhi, Lerrel Pinto, Abhinav Gupta

1704.05588

Structural-RNN: Deep Learning on Spatio-Temporal Graphs

Ashesh Jain, Amir R. Zamir, Silvio Savarese, Ashutosh Saxena

1511.05298

Deep Tracking: Seeing Beyond Seeing Using Recurrent Neural Networks

Peter Ondruska, Ingmar Posner

1602.00991

SLAMBench2: Multi-Objective Head-to-Head Benchmarking for Visual SLAM

Bruno Bodin, Harry Wagstaff, Sajad Saeedi, Luigi Nardi, Emanuele Vespa, John H Mayer, Andy Nisbet, Mikel Luján, Steve Furber, Andrew J Davison, Paul H. J. Kelly, Michael O'Boyle

1808.06820

Generalization in Dexterous Manipulation via Geometry-Aware Multi-Task Learning

Wenlong Huang, Igor Mordatch, Pieter Abbeel, Deepak Pathak

2111.03062

Building Cooperative Embodied Agents Modularly with Large Language Models

Hongxin Zhang, Weihua Du, Jiaming Shan, Qinhong Zhou, Yilun Du, Joshua B. Tenenbaum, Tianmin Shu, Chuang Gan

2307.02485

Benchmarking Structured Policies and Policy Optimization for Real-World Dexterous Object Manipulation

Niklas Funk, Charles Schaff, Rishabh Madan, Takuma Yoneda, Julen Urain De Jesus, Joe Watson, Ethan K. Gordon, Felix Widmaier, Stefan Bauer, Siddhartha S. Srinivasa, Tapomayukh Bhattacharjee, Matthew R. Walter, Jan Peters

2105.02087

Gated-Attention Architectures for Task-Oriented Language Grounding

Devendra Singh Chaplot, Kanthashree Mysore Sathyendra, Rama Kumar Pasumarthi, Dheeraj Rajagopal, Ruslan Salakhutdinov

1706.07230

The Ingredients of Real-World Robotic Reinforcement Learning

Henry Zhu, Justin Yu, Abhishek Gupta, Dhruv Shah, Kristian Hartikainen, Avi Singh, Vikash Kumar, Sergey Levine

2004.12570

Benchmarking Model-Based Reinforcement Learning

Tingwu Wang, Xuchan Bao, Ignasi Clavera, Jerrick Hoang, Yeming Wen, Eric Langlois, Shunshi Zhang, Guodong Zhang, Pieter Abbeel, Jimmy Ba

1907.02057

Complex In-Hand Manipulation via Compliance-Enabled Finger Gaiting and Multi-Modal Planning

Andrew S. Morgan, Kaiyu Hang, Bowen Wen, Kostas Bekris, Aaron M. Dollar

2201.07928

Affordances from Human Videos as a Versatile Representation for Robotics

Shikhar Bahl, Russell Mendonca, Lili Chen, Unnat Jain, Deepak Pathak

2304.08488

DPOD: 6D Pose Object Detector and Refiner

Sergey Zakharov, Ivan Shugurov, Slobodan Ilic

1902.11020

OrcVIO: Object residual constrained Visual-Inertial Odometry

Mo Shan, Vikas Dhiman, Qiaojun Feng, Jinzhao Li, Nikolay Atanasov

2007.15107

Multi-target DoA Estimation with an Audio-visual Fusion Mechanism

Xinyuan Qian, Maulik Madhavi, Zexu Pan, Jiadong Wang, Haizhou Li

2105.06107

End-to-End Learning of Semantic Grasping

Eric Jang, Sudheendra Vijayanarasimhan, Peter Pastor, Julian Ibarz, Sergey Levine

1707.01932

Fast and Robust Registration of Partially Overlapping Point Clouds

Eduardo Arnold, Sajjad Mozaffari, Mehrdad Dianati

2112.09922

Variable Compliance Control for Robotic Peg-in-Hole Assembly: A Deep Reinforcement Learning Approach

Cristian C. Beltran-Hernandez, Damien Petit, Ixchel G. Ramirez-Alpizar, Kensuke Harada

2008.10224

Neural Task Programming: Learning to Generalize Across Hierarchical Tasks

Danfei Xu, Suraj Nair, Yuke Zhu, Julian Gao, Animesh Garg, Li Fei-Fei, Silvio Savarese

1710.01813

Collaborative Visual Navigation

Haiyang Wang, Wenguan Wang, Xizhou Zhu, Jifeng Dai, Liwei Wang

2107.01151

RoboDreamer: Learning Compositional World Models for Robot Imagination

Siyuan Zhou, Yilun Du, Jiaben Chen, Yandong Li, Dit-Yan Yeung, Chuang Gan

2404.12377

RoboTurk: A Crowdsourcing Platform for Robotic Skill Learning through Imitation

Ajay Mandlekar, Yuke Zhu, Animesh Garg, Jonathan Booher, Max Spero, Albert Tung, Julian Gao, John Emmons, Anchit Gupta, Emre Orbay, Silvio Savarese, Li Fei-Fei

1811.02790

Vision-Guided Quadrupedal Locomotion in the Wild with Multi-Modal Delay Randomization

Chieko Sarah Imai, Minghao Zhang, Yuchen Zhang, Marcin Kierebinski, Ruihan Yang, Yuzhe Qin, Xiaolong Wang

2109.14549

One-Shot Imitation Learning

Yan Duan, Marcin Andrychowicz, Bradly C. Stadie, Jonathan Ho, Jonas Schneider, Ilya Sutskever, Pieter Abbeel, Wojciech Zaremba

1703.07326

Data-Driven Grasp Synthesis - A Survey

Jeannette Bohg, Antonio Morales, Tamim Asfour, Danica Kragic

1309.2660

BridgeData V2: A Dataset for Robot Learning at Scale

Homer Walke, Kevin Black, Abraham Lee, Moo Jin Kim, Max Du, Chongyi Zheng, Tony Zhao, Philippe Hansen-Estruch, Quan Vuong, Andre He, Vivek Myers, Kuan Fang, Chelsea Finn, Sergey Levine

2308.12952

SuMa++: Efficient LiDAR-based Semantic SLAM

Xieyuanli Chen, Andres Milioto, Emanuele Palazzolo, Philippe Giguère, Jens Behley, Cyrill Stachniss

2105.11320

GELLO: A General, Low-Cost, and Intuitive Teleoperation Framework for Robot Manipulators

Philipp Wu, Yide Shentu, Zhongke Yi, Xingyu Lin, Pieter Abbeel

2309.13037

MT-Opt: Continuous Multi-Task Robotic Reinforcement Learning at Scale

Dmitry Kalashnikov, Jacob Varley, Yevgen Chebotar, Benjamin Swanson, Rico Jonschkowski, Chelsea Finn, Sergey Levine, Karol Hausman

2104.08212

ORB-SLAM: a Versatile and Accurate Monocular SLAM System

Raul Mur-Artal, J. M. M. Montiel, Juan D. Tardos

1502.00956

When2com: Multi-Agent Perception via Communication Graph Grouping

Yen-Cheng Liu, Junjiao Tian, Nathaniel Glaser, Zsolt Kira

2006.00176

AR2-D2:Training a Robot Without a Robot

Jiafei Duan, Yi Ru Wang, Mohit Shridhar, Dieter Fox, Ranjay Krishna

2306.13818

Ultimate SLAM? Combining Events, Images, and IMU for Robust Visual SLAM in HDR and High Speed Scenarios

Antoni Rosinol Vidal, Henri Rebecq, Timo Horstschaefer, Davide Scaramuzza

1709.06310

Deep Reinforcement Learning with Successor Features for Navigation across Similar Environments

Jingwei Zhang, Jost Tobias Springenberg, Joschka Boedecker, Wolfram Burgard

1612.05533

Episodic Curiosity through Reachability

Nikolay Savinov, Anton Raichuk, Raphaël Marinier, Damien Vincent, Marc Pollefeys, Timothy Lillicrap, Sylvain Gelly

1810.02274

VIRDO: Visio-tactile Implicit Representations of Deformable Objects

Youngsun Wi, Pete Florence, Andy Zeng, Nima Fazeli

2202.00868

Prompting Decision Transformer for Few-Shot Policy Generalization

Mengdi Xu, Yikang Shen, Shun Zhang, Yuchen Lu, Ding Zhao, Joshua B. Tenenbaum, Chuang Gan

2206.13499

Learning to Explore using Active Neural SLAM

Devendra Singh Chaplot, Dhiraj Gandhi, Saurabh Gupta, Abhinav Gupta, Ruslan Salakhutdinov

2004.05155

DETR3D: 3D Object Detection from Multi-view Images via 3D-to-2D Queries

Yue Wang, Vitor Guizilini, Tianyuan Zhang, Yilun Wang, Hang Zhao, Justin Solomon

2110.06922

TartanAir: A Dataset to Push the Limits of Visual SLAM

Wenshan Wang, Delong Zhu, Xiangwei Wang, Yaoyu Hu, Yuheng Qiu, Chen Wang, Yafei Hu, Ashish Kapoor, Sebastian Scherer

2003.14338

A Unifying Contrast Maximization Framework for Event Cameras, with Applications to Motion, Depth, and Optical Flow Estimation

Guillermo Gallego, Henri Rebecq, Davide Scaramuzza

1804.01306

Multi-Goal Reinforcement Learning: Challenging Robotics Environments and Request for Research

Matthias Plappert, Marcin Andrychowicz, Alex Ray, Bob McGrew, Bowen Baker, Glenn Powell, Jonas Schneider, Josh Tobin, Maciek Chociej, Peter Welinder, Vikash Kumar, Wojciech Zaremba

1802.09464

Deep Learning Approaches to Grasp Synthesis: A Review

Rhys Newbury, Morris Gu, Lachlan Chumbley, Arsalan Mousavian, Clemens Eppner, Jürgen Leitner, Jeannette Bohg, Antonio Morales, Tamim Asfour, Danica Kragic, Dieter Fox, Akansel Cosgun

2207.02556

Hierarchical Deep Stereo Matching on High-resolution Images

Gengshan Yang, Joshua Manela, Michael Happold, Deva Ramanan

1912.06704

Reinforcement Learning and Control as Probabilistic Inference: Tutorial and Review

Sergey Levine

1805.00909

Fast Model Identification via Physics Engines for Data-Efficient Policy Search

Shaojun Zhu, Andrew Kimmel, Kostas E. Bekris, Abdeslam Boularias

1710.08893

RangeDet:In Defense of Range View for LiDAR-based 3D Object Detection

Lue Fan, Xuan Xiong, Feng Wang, Naiyan Wang, Zhaoxiang Zhang

2103.10039

MeteorNet: Deep Learning on Dynamic 3D Point Cloud Sequences

Xingyu Liu, Mengyuan Yan, Jeannette Bohg

1910.09165

Active Domain Randomization

Bhairav Mehta, Manfred Diaz, Florian Golemo, Christopher J. Pal, Liam Paull

1904.04762

Compositional Foundation Models for Hierarchical Planning

Anurag Ajay, Seungwook Han, Yilun Du, Shuang Li, Abhi Gupta, Tommi Jaakkola, Josh Tenenbaum, Leslie Kaelbling, Akash Srivastava, Pulkit Agrawal

2309.08587

kPAM 2.0: Feedback Control for Category-Level Robotic Manipulation

Wei Gao, Russ Tedrake

2102.06279

Learning to Communicate and Correct Pose Errors

Nicholas Vadivelu, Mengye Ren, James Tu, Jingkang Wang, Raquel Urtasun

2011.05289

Continuous-Discrete Reinforcement Learning for Hybrid Control in Robotics

Michael Neunert, Abbas Abdolmaleki, Markus Wulfmeier, Thomas Lampe, Jost Tobias Springenberg, Roland Hafner, Francesco Romano, Jonas Buchli, Nicolas Heess, Martin Riedmiller

2001.00449

TLIO: Tight Learned Inertial Odometry

Wenxin Liu, David Caruso, Eddy Ilg, Jing Dong, Anastasios I. Mourikis, Kostas Daniilidis, Vijay Kumar, Jakob Engel

2007.01867

Soft Actor-Critic Algorithms and Applications

Tuomas Haarnoja, Aurick Zhou, Kristian Hartikainen, George Tucker, Sehoon Ha, Jie Tan, Vikash Kumar, Henry Zhu, Abhishek Gupta, Pieter Abbeel, Sergey Levine

1812.05905

ARMBench: An Object-centric Benchmark Dataset for Robotic Manipulation

Chaitanya Mitash, Fan Wang, Shiyang Lu, Vikedo Terhuja, Tyler Garaas, Felipe Polido, Manikantan Nambi

2303.16382

MID-Fusion: Octree-based Object-Level Multi-Instance Dynamic SLAM

Binbin Xu, Wenbin Li, Dimos Tzoumanikas, Michael Bloesch, Andrew Davison, Stefan Leutenegger

1812.07976

GLAMR: Global Occlusion-Aware Human Mesh Recovery with Dynamic Cameras

Ye Yuan, Umar Iqbal, Pavlo Molchanov, Kris Kitani, Jan Kautz

2112.01524

Exploring Model-based Planning with Policy Networks

Tingwu Wang, Jimmy Ba

1906.08649

Legged Locomotion in Challenging Terrains using Egocentric Vision

Ananye Agarwal, Ashish Kumar, Jitendra Malik, Deepak Pathak

2211.07638

COMBO: Conservative Offline Model-Based Policy Optimization

Tianhe Yu, Aviral Kumar, Rafael Rafailov, Aravind Rajeswaran, Sergey Levine, Chelsea Finn

2102.08363

AdaGrasp: Learning an Adaptive Gripper-Aware Grasping Policy

Zhenjia Xu, Beichun Qi, Shubham Agrawal, Shuran Song

2011.14206

Dex-Net 2.0: Deep Learning to Plan Robust Grasps with Synthetic Point Clouds and Analytic Grasp Metrics

Jeffrey Mahler, Jacky Liang, Sherdil Niyaz, Michael Laskey, Richard Doan, Xinyu Liu, Juan Aparicio Ojea, Ken Goldberg

1703.09312

High precision grasp pose detection in dense clutter

Marcus Gualtieri, Andreas ten Pas, Kate Saenko, Robert Platt

1603.01564

COOPERNAUT: End-to-End Driving with Cooperative Perception for Networked Vehicles

Jiaxun Cui, Hang Qiu, Dian Chen, Peter Stone, Yuke Zhu

2205.02222

A Review of Robot Learning for Manipulation: Challenges, Representations, and Algorithms

Oliver Kroemer, Scott Niekum, George Konidaris

1907.03146

Counterfactual Data Augmentation using Locally Factored Dynamics

Silviu Pitis, Elliot Creager, Animesh Garg

2007.02863

Semi-Dense 3D Reconstruction with a Stereo Event Camera

Yi Zhou, Guillermo Gallego, Henri Rebecq, Laurent Kneip, Hongdong Li, Davide Scaramuzza

1807.07429

MoreFusion: Multi-object Reasoning for 6D Pose Estimation from Volumetric Fusion

Kentaro Wada, Edgar Sucar, Stephen James, Daniel Lenton, Andrew J. Davison

2004.04336

Asynchronous, Photometric Feature Tracking using Events and Frames

Daniel Gehrig, Henri Rebecq, Guillermo Gallego, Davide Scaramuzza

1807.09713

VADv2: End-to-End Vectorized Autonomous Driving via Probabilistic Planning

Bo Jiang, Shaoyu Chen, Hao Gao, Bencheng Liao, Qian Zhang, Wenyu Liu, Xinggang Wang

2402.13243

What Matters in Language Conditioned Robotic Imitation Learning over Unstructured Data

Oier Mees, Lukas Hermann, Wolfram Burgard

2204.06252

Deep Differentiable Grasp Planner for High-DOF Grippers

Min Liu, Zherong Pan, Kai Xu, Kanishka Ganguly, Dinesh Manocha

2002.01530

Neural Lyapunov Control

Ya-Chien Chang, Nima Roohi, Sicun Gao

2005.00611

One-Shot Visual Imitation Learning via Meta-Learning

Chelsea Finn, Tianhe Yu, Tianhao Zhang, Pieter Abbeel, Sergey Levine

1709.04905

OPV2V: An Open Benchmark Dataset and Fusion Pipeline for Perception with Vehicle-to-Vehicle Communication

Runsheng Xu, Hao Xiang, Xin Xia, Xu Han, Jinlong Li, Jiaqi Ma

2109.07644

Habitat-Web: Learning Embodied Object-Search Strategies from Human Demonstrations at Scale

Ram Ramrakhya, Eric Undersander, Dhruv Batra, Abhishek Das

2204.03514

How Should a Robot Assess Risk? Towards an Axiomatic Theory of Risk in Robotics

Anirudha Majumdar, Marco Pavone

1710.11040

Pose Graph Optimization in the Complex Domain: Lagrangian Duality, Conditions For Zero Duality Gap, and Optimal Solutions

Giuseppe Calafiore, Luca Carlone, Frank Dellaert

1505.03437

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

1906.08880

Learning to Slide Unknown Objects with Differentiable Physics Simulations

Changkyu Song, Abdeslam Boularias

2005.05456

Learning Monocular Reactive UAV Control in Cluttered Natural Environments

Stephane Ross, Narek Melik-Barkhudarov, Kumar Shaurya Shankar, Andreas Wendel, Debadeepta Dey, J. Andrew Bagnell, Martial Hebert

1211.1690

Large Scale Interactive Motion Forecasting for Autonomous Driving : The Waymo Open Motion Dataset

Scott Ettinger, Shuyang Cheng, Benjamin Caine, Chenxi Liu, Hang Zhao, Sabeek Pradhan, Yuning Chai, Ben Sapp, Charles Qi, Yin Zhou, Zoey Yang, Aurelien Chouard, Pei Sun, Jiquan Ngiam, Vijay Vasudevan, Alexander McCauley, Jonathon Shlens, Dragomir Anguelov

2104.10133

ThreeDWorld: A Platform for Interactive Multi-Modal Physical Simulation

Chuang Gan, Jeremy Schwartz, Seth Alter, Damian Mrowca, Martin Schrimpf, James Traer, Julian De Freitas, Jonas Kubilius, Abhishek Bhandwaldar, Nick Haber, Megumi Sano, Kuno Kim, Elias Wang, Michael Lingelbach, Aidan Curtis, Kevin Feigelis, Daniel M. Bear, Dan Gutfreund, David Cox, Antonio Torralba, James J. DiCarlo, Joshua B. Tenenbaum, Josh H. McDermott, Daniel L. K. Yamins

2007.04954

ROBEL: Robotics Benchmarks for Learning with Low-Cost Robots

Michael Ahn, Henry Zhu, Kristian Hartikainen, Hugo Ponte, Abhishek Gupta, Sergey Levine, Vikash Kumar

1909.11639

DriveGPT4: Interpretable End-to-end Autonomous Driving via Large Language Model

Zhenhua Xu, Yujia Zhang, Enze Xie, Zhen Zhao, Yong Guo, Kwan-Yee. K. Wong, Zhenguo Li, Hengshuang Zhao

2310.01412

Manipulation by Feel: Touch-Based Control with Deep Predictive Models

Stephen Tian, Frederik Ebert, Dinesh Jayaraman, Mayur Mudigonda, Chelsea Finn, Roberto Calandra, Sergey Levine

1903.04128

Towards learning-based planning:The nuPlan benchmark for real-world autonomous driving

Napat Karnchanachari, Dimitris Geromichalos, Kok Seang Tan, Nanxiang Li, Christopher Eriksen, Shakiba Yaghoubi, Noushin Mehdipour, Gianmarco Bernasconi, Whye Kit Fong, Yiluan Guo, Holger Caesar

2403.04133

Safe Exploration in Finite Markov Decision Processes with Gaussian Processes

Matteo Turchetta, Felix Berkenkamp, Andreas Krause

1606.04753

RoboTHOR: An Open Simulation-to-Real Embodied AI Platform

Matt Deitke, Winson Han, Alvaro Herrasti, Aniruddha Kembhavi, Eric Kolve, Roozbeh Mottaghi, Jordi Salvador, Dustin Schwenk, Eli VanderBilt, Matthew Wallingford, Luca Weihs, Mark Yatskar, Ali Farhadi

2004.06799

Doubly Robust Policy Evaluation and Learning

Miroslav Dudik, John Langford, Lihong Li

1103.4601

Residual Policy Learning

Tom Silver, Kelsey Allen, Josh Tenenbaum, Leslie Kaelbling

1812.06298

BOP Challenge 2020 on 6D Object Localization

Tomas Hodan, Martin Sundermeyer, Bertram Drost, Yann Labbe, Eric Brachmann, Frank Michel, Carsten Rother, Jiri Matas

2009.07378

Guided Conditional Diffusion for Controllable Traffic Simulation

Ziyuan Zhong, Davis Rempe, Danfei Xu, Yuxiao Chen, Sushant Veer, Tong Che, Baishakhi Ray, Marco Pavone

2210.17366

CodeMapping: Real-Time Dense Mapping for Sparse SLAM using Compact Scene Representations

Hidenobu Matsuki, Raluca Scona, Jan Czarnowski, Andrew J. Davison

2107.08994

dm_control: Software and Tasks for Continuous Control

Yuval Tassa, Saran Tunyasuvunakool, Alistair Muldal, Yotam Doron, Piotr Trochim, Siqi Liu, Steven Bohez, Josh Merel, Tom Erez, Timothy Lillicrap, Nicolas Heess

2006.12983

Zero-1-to-3: Zero-shot One Image to 3D Object

Ruoshi Liu, Rundi Wu, Basile Van Hoorick, Pavel Tokmakov, Sergey Zakharov, Carl Vondrick

2303.11328

Incremental Object Database: Building 3D Models from Multiple Partial Observations

Fadri Furrer, Tonci Novkovic, Marius Fehr, Abel Gawel, Margarita Grinvald, Torsten Sattler, Roland Siegwart, Juan Nieto

1808.00760

iGibson 2.0: Object-Centric Simulation for Robot Learning of Everyday Household Tasks

Chengshu Li, Fei Xia, Roberto Martín-Martín, Michael Lingelbach, Sanjana Srivastava, Bokui Shen, Kent Vainio, Cem Gokmen, Gokul Dharan, Tanish Jain, Andrey Kurenkov, C. Karen Liu, Hyowon Gweon, Jiajun Wu, Li Fei-Fei, Silvio Savarese

2108.03272

Offline Reinforcement Learning from Images with Latent Space Models

Rafael Rafailov, Tianhe Yu, Aravind Rajeswaran, Chelsea Finn

2012.11547

Robotic Pick-and-Place of Novel Objects in Clutter with Multi-Affordance Grasping and Cross-Domain Image Matching

Andy Zeng, Shuran Song, Kuan-Ting Yu, Elliott Donlon, Francois R. Hogan, Maria Bauza, Daolin Ma, Orion Taylor, Melody Liu, Eudald Romo, Nima Fazeli, Ferran Alet, Nikhil Chavan Dafle, Rachel Holladay, Isabella Morona, Prem Qu Nair, Druck Green, Ian Taylor, Weber Liu, Thomas Funkhouser, Alberto Rodriguez

1710.01330

FastDepth: Fast Monocular Depth Estimation on Embedded Systems

Diana Wofk, Fangchang Ma, Tien-Ju Yang, Sertac Karaman, Vivienne Sze

1903.03273

Vehicle Detection from 3D Lidar Using Fully Convolutional Network

Bo Li, Tianlei Zhang, Tian Xia

1608.07916

Toward Low-Flying Autonomous MAV Trail Navigation using Deep Neural Networks for Environmental Awareness

Nikolai Smolyanskiy, Alexey Kamenev, Jeffrey Smith, Stan Birchfield

1705.02550

Deep Imitation Learning for Complex Manipulation Tasks from Virtual Reality Teleoperation

Tianhao Zhang, Zoe McCarthy, Owen Jow, Dennis Lee, Xi Chen, Ken Goldberg, Pieter Abbeel

1710.04615

PlasticineLab: A Soft-Body Manipulation Benchmark with Differentiable Physics

Zhiao Huang, Yuanming Hu, Tao Du, Siyuan Zhou, Hao Su, Joshua B. Tenenbaum, Chuang Gan

2104.03311

Augmenting Differentiable Simulators with Neural Networks to Close the Sim2Real Gap

Eric Heiden, David Millard, Erwin Coumans, Gaurav S. Sukhatme

2007.06045

Diversity is All You Need: Learning Skills without a Reward Function

Benjamin Eysenbach, Abhishek Gupta, Julian Ibarz, Sergey Levine

1802.06070

MultiPath: Multiple Probabilistic Anchor Trajectory Hypotheses for Behavior Prediction

Yuning Chai, Benjamin Sapp, Mayank Bansal, Dragomir Anguelov

1910.05449

A Closer Look at Deep Policy Gradients

Andrew Ilyas, Logan Engstrom, Shibani Santurkar, Dimitris Tsipras, Firdaus Janoos, Larry Rudolph, Aleksander Madry

1811.02553

ACID: Action-Conditional Implicit Visual Dynamics for Deformable Object Manipulation

Bokui Shen, Zhenyu Jiang, Christopher Choy, Leonidas J. Guibas, Silvio Savarese, Anima Anandkumar, Yuke Zhu

2203.06856

DVGG: Deep Variational Grasp Generation for Dextrous Manipulation

Wei Wei, Daheng Li, Peng Wang, Yiming Li, Wanyi Li, Yongkang Luo, Jun Zhong

2211.11154

PointCLIP: Point Cloud Understanding by CLIP

Renrui Zhang, Ziyu Guo, Wei Zhang, Kunchang Li, Xupeng Miao, Bin Cui, Yu Qiao, Peng Gao, Hongsheng Li

2112.02413

Dynamics-Regulated Kinematic Policy for Egocentric Pose Estimation

Zhengyi Luo, Ryo Hachiuma, Ye Yuan, Kris Kitani

2106.05969

Where are we in the search for an Artificial Visual Cortex for Embodied Intelligence?

Arjun Majumdar, Karmesh Yadav, Sergio Arnaud, Yecheng Jason Ma, Claire Chen, Sneha Silwal, Aryan Jain, Vincent-Pierre Berges, Pieter Abbeel, Jitendra Malik, Dhruv Batra, Yixin Lin, Oleksandr Maksymets, Aravind Rajeswaran, Franziska Meier

2303.18240

Deep Reinforcement Learning for Industrial Insertion Tasks with Visual Inputs and Natural Rewards

Gerrit Schoettler, Ashvin Nair, Jianlan Luo, Shikhar Bahl, Juan Aparicio Ojea, Eugen Solowjow, Sergey Levine

1906.05841

LabelFusion: A Pipeline for Generating Ground Truth Labels for Real RGBD Data of Cluttered Scenes

Pat Marion, Peter R. Florence, Lucas Manuelli, Russ Tedrake

1707.04796

Socially Compliant Navigation through Raw Depth Inputs with Generative Adversarial Imitation Learning

Lei Tai, Jingwei Zhang, Ming Liu, Wolfram Burgard

1710.02543

Reverse Curriculum Generation for Reinforcement Learning

Carlos Florensa, David Held, Markus Wulfmeier, Michael Zhang, Pieter Abbeel

1707.05300

Circus ANYmal: A Quadruped Learning Dexterous Manipulation with Its Limbs

Fan Shi, Timon Homberger, Joonho Lee, Takahiro Miki, Moju Zhao, Farbod Farshidian, Kei Okada, Masayuki Inaba, Marco Hutter

2011.08811

Curiosity Driven Exploration of Learned Disentangled Goal Spaces

Adrien Laversanne-Finot, Alexandre Péré, Pierre-Yves Oudeyer

1807.01521

StructFormer: Learning Spatial Structure for Language-Guided Semantic Rearrangement of Novel Objects

Weiyu Liu, Chris Paxton, Tucker Hermans, Dieter Fox

2110.10189

Self-Supervised Policy Adaptation during Deployment

Nicklas Hansen, Rishabh Jangir, Yu Sun, Guillem Alenyà, Pieter Abbeel, Alexei A. Efros, Lerrel Pinto, Xiaolong Wang

2007.04309

RLBench: The Robot Learning Benchmark & Learning Environment

Stephen James, Zicong Ma, David Rovick Arrojo, Andrew J. Davison

1909.12271

An Open Torque-Controlled Modular Robot Architecture for Legged Locomotion Research

Felix Grimminger, Avadesh Meduri, Majid Khadiv, Julian Viereck, Manuel Wüthrich, Maximilien Naveau, Vincent Berenz, Steve Heim, Felix Widmaier, Thomas Flayols, Jonathan Fiene, Alexander Badri-Spröwitz, Ludovic Righetti

1910.00093

3D-VLA: A 3D Vision-Language-Action Generative World Model

Haoyu Zhen, Xiaowen Qiu, Peihao Chen, Jincheng Yang, Xin Yan, Yilun Du, Yining Hong, Chuang Gan

2403.09631

Where2Act: From Pixels to Actions for Articulated 3D Objects

Kaichun Mo, Leonidas Guibas, Mustafa Mukadam, Abhinav Gupta, Shubham Tulsiani

2101.02692

See to Touch: Learning Tactile Dexterity through Visual Incentives

Irmak Guzey, Yinlong Dai, Ben Evans, Soumith Chintala, Lerrel Pinto

2309.12300

An End-to-End Differentiable Framework for Contact-Aware Robot Design

Jie Xu, Tao Chen, Lara Zlokapa, Michael Foshey, Wojciech Matusik, Shinjiro Sueda, Pulkit Agrawal

2107.07501

Reinforcement Learning on Variable Impedance Controller for High-Precision Robotic Assembly

Jianlan Luo, Eugen Solowjow, Chengtao Wen, Juan Aparicio Ojea, Alice M. Agogino, Aviv Tamar, Pieter Abbeel

1903.01066

Advanced Skills by Learning Locomotion and Local Navigation End-to-End

Nikita Rudin, David Hoeller, Marko Bjelonic, Marco Hutter

2209.12827

DexVIP: Learning Dexterous Grasping with Human Hand Pose Priors from Video

Priyanka Mandikal, Kristen Grauman

2202.00164

D$^3$Fields: Dynamic 3D Descriptor Fields for Zero-Shot Generalizable Rearrangement

Yixuan Wang, Mingtong Zhang, Zhuoran Li, Tarik Kelestemur, Katherine Driggs-Campbell, Jiajun Wu, Li Fei-Fei, Yunzhu Li

2309.16118

NEAT: Neural Attention Fields for End-to-End Autonomous Driving

Kashyap Chitta, Aditya Prakash, Andreas Geiger

2109.04456

A Survey of Deep Learning Techniques for Autonomous Driving

Sorin Grigorescu, Bogdan Trasnea, Tiberiu Cocias, Gigel Macesanu

1910.07738

Transferring End-to-End Visuomotor Control from Simulation to Real World for a Multi-Stage Task

Stephen James, Andrew J. Davison, Edward Johns

1707.02267

COG: Connecting New Skills to Past Experience with Offline Reinforcement Learning

Avi Singh, Albert Yu, Jonathan Yang, Jesse Zhang, Aviral Kumar, Sergey Levine

2010.14500

General In-Hand Object Rotation with Vision and Touch

Haozhi Qi, Brent Yi, Sudharshan Suresh, Mike Lambeta, Yi Ma, Roberto Calandra, Jitendra Malik

2309.09979

SE3-Pose-Nets: Structured Deep Dynamics Models for Visuomotor Planning and Control

Arunkumar Byravan, Felix Leeb, Franziska Meier, Dieter Fox

1710.00489

Expressive Robot Motion Timing

Allan Zhou, Dylan Hadfield-Menell, Anusha Nagabandi, Anca D. Dragan

1802.01536

NViSII: A Scriptable Tool for Photorealistic Image Generation

Nathan Morrical, Jonathan Tremblay, Yunzhi Lin, Stephen Tyree, Stan Birchfield, Valerio Pascucci, Ingo Wald

2105.13962

Diffusion-Based Planning for Autonomous Driving with Flexible Guidance

Yinan Zheng, Ruiming Liang, Kexin Zheng, Jinliang Zheng, Liyuan Mao, Jianxiong Li, Weihao Gu, Rui Ai, Shengbo Eben Li, Xianyuan Zhan, Jingjing Liu

2501.15564

Learning Task-Oriented Grasping for Tool Manipulation from Simulated Self-Supervision

Kuan Fang, Yuke Zhu, Animesh Garg, Andrey Kurenkov, Viraj Mehta, Li Fei-Fei, Silvio Savarese

1806.09266

RetinaGAN: An Object-aware Approach to Sim-to-Real Transfer

Daniel Ho, Kanishka Rao, Zhuo Xu, Eric Jang, Mohi Khansari, Yunfei Bai

2011.03148

SACSoN: Scalable Autonomous Control for Social Navigation

Noriaki Hirose, Dhruv Shah, Ajay Sridhar, Sergey Levine

2306.01874

DDGC: Generative Deep Dexterous Grasping in Clutter

Jens Lundell, Francesco Verdoja, Ville Kyrki

2103.04783

Self-supervised Sparse-to-Dense: Self-supervised Depth Completion from LiDAR and Monocular Camera

Fangchang Ma, Guilherme Venturelli Cavalheiro, Sertac Karaman

1807.00275

The ThreeDWorld Transport Challenge: A Visually Guided Task-and-Motion Planning Benchmark for Physically Realistic Embodied AI

Chuang Gan, Siyuan Zhou, Jeremy Schwartz, Seth Alter, Abhishek Bhandwaldar, Dan Gutfreund, Daniel L. K. Yamins, James J DiCarlo, Josh McDermott, Antonio Torralba, Joshua B. Tenenbaum

2103.14025

From One Hand to Multiple Hands: Imitation Learning for Dexterous Manipulation from Single-Camera Teleoperation

Yuzhe Qin, Hao Su, Xiaolong Wang

2204.12490

Temporal Difference Learning for Model Predictive Control

Nicklas Hansen, Xiaolong Wang, Hao Su

2203.04955

Universal Planning Networks

Aravind Srinivas, Allan Jabri, Pieter Abbeel, Sergey Levine, Chelsea Finn

1804.00645

In-Hand Object Rotation via Rapid Motor Adaptation

Haozhi Qi, Ashish Kumar, Roberto Calandra, Yi Ma, Jitendra Malik

2210.04887

Learning to Compose Visual Relations

Nan Liu, Shuang Li, Yilun Du, Joshua B. Tenenbaum, Antonio Torralba

2111.09297

Coupling Vision and Proprioception for Navigation of Legged Robots

Zipeng Fu, Ashish Kumar, Ananye Agarwal, Haozhi Qi, Jitendra Malik, Deepak Pathak

2112.02094

PointNetGPD: Detecting Grasp Configurations from Point Sets

Hongzhuo Liang, Xiaojian Ma, Shuang Li, Michael Görner, Song Tang, Bin Fang, Fuchun Sun, Jianwei Zhang

1809.06267

Learning Predictive Representations for Deformable Objects Using Contrastive Estimation

Wilson Yan, Ashwin Vangipuram, Pieter Abbeel, Lerrel Pinto

2003.05436

Conservative Data Sharing for Multi-Task Offline Reinforcement Learning

Tianhe Yu, Aviral Kumar, Yevgen Chebotar, Karol Hausman, Sergey Levine, Chelsea Finn

2109.08128

O2O-Afford: Annotation-Free Large-Scale Object-Object Affordance Learning

Kaichun Mo, Yuzhe Qin, Fanbo Xiang, Hao Su, Leonidas Guibas

2106.15087

Energy-based Models are Zero-Shot Planners for Compositional Scene Rearrangement

Nikolaos Gkanatsios, Ayush Jain, Zhou Xian, Yunchu Zhang, Christopher Atkeson, Katerina Fragkiadaki

2304.14391

BARF: Bundle-Adjusting Neural Radiance Fields

Chen-Hsuan Lin, Wei-Chiu Ma, Antonio Torralba, Simon Lucey

2104.06405

UniDexGrasp: Universal Robotic Dexterous Grasping via Learning Diverse Proposal Generation and Goal-Conditioned Policy

Yinzhen Xu, Weikang Wan, Jialiang Zhang, Haoran Liu, Zikang Shan, Hao Shen, Ruicheng Wang, Haoran Geng, Yijia Weng, Jiayi Chen, Tengyu Liu, Li Yi, He Wang

2303.00938

DexPoint: Generalizable Point Cloud Reinforcement Learning for Sim-to-Real Dexterous Manipulation

Yuzhe Qin, Binghao Huang, Zhao-Heng Yin, Hao Su, Xiaolong Wang

2211.09423

Language Grounding with 3D Objects

Jesse Thomason, Mohit Shridhar, Yonatan Bisk, Chris Paxton, Luke Zettlemoyer

2107.12514

The Best of Both Modes: Separately Leveraging RGB and Depth for Unseen Object Instance Segmentation

Christopher Xie, Yu Xiang, Arsalan Mousavian, Dieter Fox

1907.13236

TransCG: A Large-Scale Real-World Dataset for Transparent Object Depth Completion and a Grasping Baseline

Hongjie Fang, Hao-Shu Fang, Sheng Xu, Cewu Lu

2202.08471

3D Dynamic Scene Graphs: Actionable Spatial Perception with Places, Objects, and Humans

Antoni Rosinol, Arjun Gupta, Marcus Abate, Jingnan Shi, Luca Carlone

2002.06289

Learning to Generalize Across Long-Horizon Tasks from Human Demonstrations

Ajay Mandlekar, Danfei Xu, Roberto Martín-Martín, Silvio Savarese, Li Fei-Fei

2003.06085

kPAM-SC: Generalizable Manipulation Planning using KeyPoint Affordance and Shape Completion

Wei Gao, Russ Tedrake

1909.06980

Deep-6DPose: Recovering 6D Object Pose from a Single RGB Image

Thanh-Toan Do, Ming Cai, Trung Pham, Ian Reid

1802.10367

End-to-end Contextual Perception and Prediction with Interaction Transformer

Lingyun Luke Li, Bin Yang, Ming Liang, Wenyuan Zeng, Mengye Ren, Sean Segal, Raquel Urtasun

2008.05927

Stochastic Adversarial Video Prediction

Alex X. Lee, Richard Zhang, Frederik Ebert, Pieter Abbeel, Chelsea Finn, Sergey Levine

1804.01523

Transformers for One-Shot Visual Imitation

Sudeep Dasari, Abhinav Gupta

2011.05970

Implicit Latent Variable Model for Scene-Consistent Motion Forecasting

Sergio Casas, Cole Gulino, Simon Suo, Katie Luo, Renjie Liao, Raquel Urtasun

2007.12036

Legged Robots that Keep on Learning: Fine-Tuning Locomotion Policies in the Real World

Laura Smith, J. Chase Kew, Xue Bin Peng, Sehoon Ha, Jie Tan, Sergey Levine

2110.05457

OVIR-3D: Open-Vocabulary 3D Instance Retrieval Without Training on 3D Data

Shiyang Lu, Haonan Chang, Eric Pu Jing, Abdeslam Boularias, Kostas Bekris

2311.02873

Language-Conditioned Imitation Learning for Robot Manipulation Tasks

Simon Stepputtis, Joseph Campbell, Mariano Phielipp, Stefan Lee, Chitta Baral, Heni Ben Amor

2010.12083

Robust Dense Mapping for Large-Scale Dynamic Environments

Ioan Andrei Bârsan, Peidong Liu, Marc Pollefeys, Andreas Geiger

1905.02781

Adaptive Online Replanning with Diffusion Models

Siyuan Zhou, Yilun Du, Shun Zhang, Mengdi Xu, Yikang Shen, Wei Xiao, Dit-Yan Yeung, Chuang Gan

2310.09629

PIPPS: Flexible Model-Based Policy Search Robust to the Curse of Chaos

Paavo Parmas, Carl Edward Rasmussen, Jan Peters, Kenji Doya

1902.01240

Look Before You Leap: Bridging Model-Free and Model-Based Reinforcement Learning for Planned-Ahead Vision-and-Language Navigation

Xin Wang, Wenhan Xiong, Hongmin Wang, William Yang Wang

1803.07729

Combining Self-Supervised Learning and Imitation for Vision-Based Rope Manipulation

Ashvin Nair, Dian Chen, Pulkit Agrawal, Phillip Isola, Pieter Abbeel, Jitendra Malik, Sergey Levine

1703.02018

Modeling Human Motion with Quaternion-based Neural Networks

Dario Pavllo, Christoph Feichtenhofer, Michael Auli, David Grangier

1901.07677

Shape-independent Hardness Estimation Using Deep Learning and a GelSight Tactile Sensor

Wenzhen Yuan, Chenzhuo Zhu, Andrew Owens, Mandayam A. Srinivasan, Edward H. Adelson

1704.03955

My House, My Rules: Learning Tidying Preferences with Graph Neural Networks

Ivan Kapelyukh, Edward Johns

2111.03112

A new simple dynamic muscle fatigue model and its validation

Liang Ma, Damien Chablat, Fouad Bennis, Wei Zhang

2201.01069

Gesture Recognition in Robotic Surgery: a Review

Beatrice van Amsterdam, Matthew J. Clarkson, Danail Stoyanov

2102.00027

Actionable Models: Unsupervised Offline Reinforcement Learning of Robotic Skills

Yevgen Chebotar, Karol Hausman, Yao Lu, Ted Xiao, Dmitry Kalashnikov, Jake Varley, Alex Irpan, Benjamin Eysenbach, Ryan Julian, Chelsea Finn, Sergey Levine

2104.07749

Watch and Match: Supercharging Imitation with Regularized Optimal Transport

Siddhant Haldar, Vaibhav Mathur, Denis Yarats, Lerrel Pinto

2206.15469

Deep Reinforcement Learning for Autonomous Driving

Sen Wang, Daoyuan Jia, Xinshuo Weng

1811.11329

Learning Language-Conditioned Robot Behavior from Offline Data and Crowd-Sourced Annotation

Suraj Nair, Eric Mitchell, Kevin Chen, Brian Ichter, Silvio Savarese, Chelsea Finn

2109.01115

A Data-Efficient Approach to Precise and Controlled Pushing

Maria Bauza, Francois R. Hogan, Alberto Rodriguez

1807.09904

Learning Quadrupedal Locomotion over Challenging Terrain

Joonho Lee, Jemin Hwangbo, Lorenz Wellhausen, Vladlen Koltun, Marco Hutter

2010.11251

Query-Efficient Imitation Learning for End-to-End Autonomous Driving

Jiakai Zhang, Kyunghyun Cho

1605.06450

NeuralRecon: Real-Time Coherent 3D Reconstruction from Monocular Video

Jiaming Sun, Yiming Xie, Linghao Chen, Xiaowei Zhou, Hujun Bao

2104.00681

One Thousand and One Hours: Self-driving Motion Prediction Dataset

John Houston, Guido Zuidhof, Luca Bergamini, Yawei Ye, Long Chen, Ashesh Jain, Sammy Omari, Vladimir Iglovikov, Peter Ondruska

2006.14480

Tactile Regrasp: Grasp Adjustments via Simulated Tactile Transformations

Francois R. Hogan, Maria Bauza, Oleguer Canal, Elliott Donlon, Alberto Rodriguez

1803.01940

LILA: Language-Informed Latent Actions

Siddharth Karamcheti, Megha Srivastava, Percy Liang, Dorsa Sadigh

2111.03205

Spatially-Aware Graph Neural Networks for Relational Behavior Forecasting from Sensor Data

Sergio Casas, Cole Gulino, Renjie Liao, Raquel Urtasun

1910.08233

A Persistent Spatial Semantic Representation for High-level Natural Language Instruction Execution

Valts Blukis, Chris Paxton, Dieter Fox, Animesh Garg, Yoav Artzi

2107.05612

Cartman: The low-cost Cartesian Manipulator that won the Amazon Robotics Challenge

D. Morrison, A. W. Tow, M. McTaggart, R. Smith, N. Kelly-Boxall, S. Wade-McCue, J. Erskine, R. Grinover, A. Gurman, T. Hunn, D. Lee, A. Milan, T. Pham, G. Rallos, A. Razjigaev, T. Rowntree, K. Vijay, Z. Zhuang, C. Lehnert, I. Reid, P. Corke, J. Leitner

1709.06283

Instruct2Act: Mapping Multi-modality Instructions to Robotic Actions with Large Language Model

Siyuan Huang, Zhengkai Jiang, Hao Dong, Yu Qiao, Peng Gao, Hongsheng Li

2305.11176

Argoverse 2: Next Generation Datasets for Self-Driving Perception and Forecasting

Benjamin Wilson, William Qi, Tanmay Agarwal, John Lambert, Jagjeet Singh, Siddhesh Khandelwal, Bowen Pan, Ratnesh Kumar, Andrew Hartnett, Jhony Kaesemodel Pontes, Deva Ramanan, Peter Carr, James Hays

2301.00493

Differentiable Physics Models for Real-world Offline Model-based Reinforcement Learning

Michael Lutter, Johannes Silberbauer, Joe Watson, Jan Peters

2011.01734

Can Autonomous Vehicles Identify, Recover From, and Adapt to Distribution Shifts?

Angelos Filos, Panagiotis Tigas, Rowan McAllister, Nicholas Rhinehart, Sergey Levine, Yarin Gal

2006.14911

Guided Uncertainty-Aware Policy Optimization: Combining Learning and Model-Based Strategies for Sample-Efficient Policy Learning

Michelle A. Lee, Carlos Florensa, Jonathan Tremblay, Nathan Ratliff, Animesh Garg, Fabio Ramos, Dieter Fox

2005.10872

D-Grasp: Physically Plausible Dynamic Grasp Synthesis for Hand-Object Interactions

Sammy Christen, Muhammed Kocabas, Emre Aksan, Jemin Hwangbo, Jie Song, Otmar Hilliges

2112.03028

Comparing Human-Centric and Robot-Centric Sampling for Robot Deep Learning from Demonstrations

Michael Laskey, Caleb Chuck, Jonathan Lee, Jeffrey Mahler, Sanjay Krishnan, Kevin Jamieson, Anca Dragan, Ken Goldberg

1610.00850

Curious Representation Learning for Embodied Intelligence

Yilun Du, Chuang Gan, Phillip Isola

2105.01060

Improving Semantic Segmentation via Video Propagation and Label Relaxation

Yi Zhu, Karan Sapra, Fitsum A. Reda, Kevin J. Shih, Shawn Newsam, Andrew Tao, Bryan Catanzaro

1812.01593

Planning to Explore via Self-Supervised World Models

Ramanan Sekar, Oleh Rybkin, Kostas Daniilidis, Pieter Abbeel, Danijar Hafner, Deepak Pathak

2005.05960

Semantics for Robotic Mapping, Perception and Interaction: A Survey

Sourav Garg, Niko Sünderhauf, Feras Dayoub, Douglas Morrison, Akansel Cosgun, Gustavo Carneiro, Qi Wu, Tat-Jun Chin, Ian Reid, Stephen Gould, Peter Corke, Michael Milford

2101.00443

Elevation Mapping for Locomotion and Navigation using GPU

Takahiro Miki, Lorenz Wellhausen, Ruben Grandia, Fabian Jenelten, Timon Homberger, Marco Hutter

2204.12876

Visual Memorability for Robotic Interestingness via Unsupervised Online Learning

Chen Wang, Wenshan Wang, Yuheng Qiu, Yafei Hu, Sebastian Scherer

2005.08829

Closing the Sim-to-Real Loop: Adapting Simulation Randomization with Real World Experience

Yevgen Chebotar, Ankur Handa, Viktor Makoviychuk, Miles Macklin, Jan Issac, Nathan Ratliff, Dieter Fox

1810.05687

Action Image Representation: Learning Scalable Deep Grasping Policies with Zero Real World Data

Mohi Khansari, Daniel Kappler, Jianlan Luo, Jeff Bingham, Mrinal Kalakrishnan

2005.06594

3D Diffuser Actor: Policy Diffusion with 3D Scene Representations

Tsung-Wei Ke, Nikolaos Gkanatsios, Katerina Fragkiadaki

2402.10885

Siamese Transformer Pyramid Networks for Real-Time UAV Tracking

Daitao Xing, Nikolaos Evangeliou, Athanasios Tsoukalas, Anthony Tzes

2110.08822

Intent Communication between Autonomous Vehicles and Pedestrians

Milecia Matthews, Girish Chowdhary, Emily Kieson

1708.07123

A Language Agent for Autonomous Driving

Jiageng Mao, Junjie Ye, Yuxi Qian, Marco Pavone, Yue Wang

2311.10813

DS-SLAM: A Semantic Visual SLAM towards Dynamic Environments

Chao Yu, Zuxin Liu, Xinjun Liu, Fugui Xie, Yi Yang, Qi Wei, Qiao Fei

1809.08379

SQN: Weakly-Supervised Semantic Segmentation of Large-Scale 3D Point Clouds

Qingyong Hu, Bo Yang, Guangchi Fang, Yulan Guo, Ales Leonardis, Niki Trigoni, Andrew Markham

2104.04891

PlayFusion: Skill Acquisition via Diffusion from Language-Annotated Play

Lili Chen, Shikhar Bahl, Deepak Pathak

2312.04549

(AF)2-S3Net: Attentive Feature Fusion with Adaptive Feature Selection for Sparse Semantic Segmentation Network

Ran Cheng, Ryan Razani, Ehsan Taghavi, Enxu Li, Bingbing Liu

2102.04530

TEACh: Task-driven Embodied Agents that Chat

Aishwarya Padmakumar, Jesse Thomason, Ayush Shrivastava, Patrick Lange, Anjali Narayan-Chen, Spandana Gella, Robinson Piramuthu, Gokhan Tur, Dilek Hakkani-Tur

2110.00534

VideoDex: Learning Dexterity from Internet Videos

Kenneth Shaw, Shikhar Bahl, Deepak Pathak

2212.04498

IFOR: Iterative Flow Minimization for Robotic Object Rearrangement

Ankit Goyal, Arsalan Mousavian, Chris Paxton, Yu-Wei Chao, Brian Okorn, Jia Deng, Dieter Fox

2202.00732

TNT: Target-driveN Trajectory Prediction

Hang Zhao, Jiyang Gao, Tian Lan, Chen Sun, Benjamin Sapp, Balakrishnan Varadarajan, Yue Shen, Yi Shen, Yuning Chai, Cordelia Schmid, Congcong Li, Dragomir Anguelov

2008.08294

Large Language Models as General Pattern Machines

Suvir Mirchandani, Fei Xia, Pete Florence, Brian Ichter, Danny Driess, Montserrat Gonzalez Arenas, Kanishka Rao, Dorsa Sadigh, Andy Zeng

2307.04721

ScrewNet: Category-Independent Articulation Model Estimation From Depth Images Using Screw Theory

Ajinkya Jain, Rudolf Lioutikov, Caleb Chuck, Scott Niekum

2008.10518

Multimodal Hierarchical Dirichlet Process-based Active Perception

Tadahiro Taniguchi, Toshiaki Takano, Ryo Yoshino

1510.00331

Improvisation through Physical Understanding: Using Novel Objects as Tools with Visual Foresight

Annie Xie, Frederik Ebert, Sergey Levine, Chelsea Finn

1904.05538

Cooperative Perception for 3D Object Detection in Driving Scenarios using Infrastructure Sensors

Eduardo Arnold, Mehrdad Dianati, Robert de Temple, Saber Fallah

1912.12147

Text2Motion: From Natural Language Instructions to Feasible Plans

Kevin Lin, Christopher Agia, Toki Migimatsu, Marco Pavone, Jeannette Bohg

2303.12153

Vision-Language Foundation Models as Effective Robot Imitators

Xinghang Li, Minghuan Liu, Hanbo Zhang, Cunjun Yu, Jie Xu, Hongtao Wu, Chilam Cheang, Ya Jing, Weinan Zhang, Huaping Liu, Hang Li, Tao Kong

2311.01378

RAD: Training an End-to-End Driving Policy via Large-Scale 3DGS-based Reinforcement Learning

Hao Gao, Shaoyu Chen, Bo Jiang, Bencheng Liao, Yiang Shi, Xiaoyang Guo, Yuechuan Pu, Haoran Yin, Xiangyu Li, Xinbang Zhang, Ying Zhang, Wenyu Liu, Qian Zhang, Xinggang Wang

2502.13144

VINS-Mono: A Robust and Versatile Monocular Visual-Inertial State Estimator

Tong Qin, Peiliang Li, Shaojie Shen

1708.03852

Learning to Grasp Without Seeing

Adithyavairavan Murali, Yin Li, Dhiraj Gandhi, Abhinav Gupta

1805.04201

Learning Agile Robotic Locomotion Skills by Imitating Animals

Xue Bin Peng, Erwin Coumans, Tingnan Zhang, Tsang-Wei Lee, Jie Tan, Sergey Levine

2004.00784

AutoTAMP: Autoregressive Task and Motion Planning with LLMs as Translators and Checkers

Yongchao Chen, Jacob Arkin, Charles Dawson, Yang Zhang, Nicholas Roy, Chuchu Fan

2306.06531

Multi-Modal Fusion Transformer for End-to-End Autonomous Driving

Aditya Prakash, Kashyap Chitta, Andreas Geiger

2104.09224

SayPlan: Grounding Large Language Models using 3D Scene Graphs for Scalable Robot Task Planning

Krishan Rana, Jesse Haviland, Sourav Garg, Jad Abou-Chakra, Ian Reid, Niko Suenderhauf

2307.06135

VIP: Towards Universal Visual Reward and Representation via Value-Implicit Pre-Training

Yecheng Jason Ma, Shagun Sodhani, Dinesh Jayaraman, Osbert Bastani, Vikash Kumar, Amy Zhang

2210.00030

The Lyapunov Neural Network: Adaptive Stability Certification for Safe Learning of Dynamical Systems

Spencer M. Richards, Felix Berkenkamp, Andreas Krause

1808.00924

Adaptive Surgical Robotic Training Using Real-Time Stylistic Behavior Feedback Through Haptic Cues

Marzieh Ershad, Robert Rege, Ann Majewicz Fey

2101.00097

Neural probabilistic motor primitives for humanoid control

Josh Merel, Leonard Hasenclever, Alexandre Galashov, Arun Ahuja, Vu Pham, Greg Wayne, Yee Whye Teh, Nicolas Heess

1811.11711

AnyTeleop: A General Vision-Based Dexterous Robot Arm-Hand Teleoperation System

Yuzhe Qin, Wei Yang, Binghao Huang, Karl Van Wyk, Hao Su, Xiaolong Wang, Yu-Wei Chao, Dieter Fox

2307.04577

Dexterity from Touch: Self-Supervised Pre-Training of Tactile Representations with Robotic Play

Irmak Guzey, Ben Evans, Soumith Chintala, Lerrel Pinto

2303.12076

Robots That Ask For Help: Uncertainty Alignment for Large Language Model Planners

Allen Z. Ren, Anushri Dixit, Alexandra Bodrova, Sumeet Singh, Stephen Tu, Noah Brown, Peng Xu, Leila Takayama, Fei Xia, Jake Varley, Zhenjia Xu, Dorsa Sadigh, Andy Zeng, Anirudha Majumdar

2307.01928

The Multi Vehicle Stereo Event Camera Dataset: An Event Camera Dataset for 3D Perception

Alex Zihao Zhu, Dinesh Thakur, Tolga Ozaslan, Bernd Pfrommer, Vijay Kumar, Kostas Daniilidis

1801.10202

Learning Dexterous Manipulation for a Soft Robotic Hand from Human Demonstration

Abhishek Gupta, Clemens Eppner, Sergey Levine, Pieter Abbeel

1603.06348

Relay Policy Learning: Solving Long-Horizon Tasks via Imitation and Reinforcement Learning

Abhishek Gupta, Vikash Kumar, Corey Lynch, Sergey Levine, Karol Hausman

1910.11956

Dexterous Manipulation with Deep Reinforcement Learning: Efficient, General, and Low-Cost

Henry Zhu, Abhishek Gupta, Aravind Rajeswaran, Sergey Levine, Vikash Kumar

1810.06045

FusionAD: Multi-modality Fusion for Prediction and Planning Tasks of Autonomous Driving

Tengju Ye, Wei Jing, Chunyong Hu, Shikun Huang, Lingping Gao, Fangzhen Li, Jingke Wang, Ke Guo, Wencong Xiao, Weibo Mao, Hang Zheng, Kun Li, Junbo Chen, Kaicheng Yu

2308.01006

Interactive Spatiotemporal Token Attention Network for Skeleton-based General Interactive Action Recognition

Yuhang Wen, Zixuan Tang, Yunsheng Pang, Beichen Ding, Mengyuan Liu

2307.07469

Graspness Discovery in Clutters for Fast and Accurate Grasp Detection

Chenxi Wang, Hao-Shu Fang, Minghao Gou, Hongjie Fang, Jin Gao, Cewu Lu

2406.11142

Mastering Atari Games with Limited Data

Weirui Ye, Shaohuai Liu, Thanard Kurutach, Pieter Abbeel, Yang Gao

2111.00210

VR-Goggles for Robots: Real-to-sim Domain Adaptation for Visual Control

Jingwei Zhang, Lei Tai, Peng Yun, Yufeng Xiong, Ming Liu, Joschka Boedecker, Wolfram Burgard

1802.00265

Euclideanizing Flows: Diffeomorphic Reduction for Learning Stable Dynamical Systems

Muhammad Asif Rana, Anqi Li, Dieter Fox, Byron Boots, Fabio Ramos, Nathan Ratliff

2005.13143

ViKiNG: Vision-Based Kilometer-Scale Navigation with Geographic Hints

Dhruv Shah, Sergey Levine

2202.11271

Rewriting History with Inverse RL: Hindsight Inference for Policy Improvement

Benjamin Eysenbach, Xinyang Geng, Sergey Levine, Ruslan Salakhutdinov

2002.11089

Reward-rational (implicit) choice: A unifying formalism for reward learning

Hong Jun Jeon, Smitha Milli, Anca D. Dragan

2002.04833

Human-to-Robot Imitation in the Wild

Shikhar Bahl, Abhinav Gupta, Deepak Pathak

2207.09450

Learning Adaptive Language Interfaces through Decomposition

Siddharth Karamcheti, Dorsa Sadigh, Percy Liang

2010.05190

Unleashing Large-Scale Video Generative Pre-training for Visual Robot Manipulation

Hongtao Wu, Ya Jing, Chilam Cheang, Guangzeng Chen, Jiafeng Xu, Xinghang Li, Minghuan Liu, Hang Li, Tao Kong

2312.13139

Human-Centric Autonomous Systems With LLMs for User Command Reasoning

Yi Yang, Qingwen Zhang, Ci Li, Daniel Simões Marta, Nazre Batool, John Folkesson

2311.08206

Rapid Exploration for Open-World Navigation with Latent Goal Models

Dhruv Shah, Benjamin Eysenbach, Gregory Kahn, Nicholas Rhinehart, Sergey Levine

2104.05859

Does computer vision matter for action?

Brady Zhou, Philipp Krähenbühl, Vladlen Koltun

1905.12887

Preference Transformer: Modeling Human Preferences using Transformers for RL

Changyeon Kim, Jongjin Park, Jinwoo Shin, Honglak Lee, Pieter Abbeel, Kimin Lee

2303.00957

Learning Latent Plans from Play

Corey Lynch, Mohi Khansari, Ted Xiao, Vikash Kumar, Jonathan Tompson, Sergey Levine, Pierre Sermanet

1903.01973

TruPercept: Trust Modelling for Autonomous Vehicle Cooperative Perception from Synthetic Data

Braden Hurl, Robin Cohen, Krzysztof Czarnecki, Steven Waslander

1909.07867

Perceptive Locomotion through Nonlinear Model Predictive Control

Ruben Grandia, Fabian Jenelten, Shaohui Yang, Farbod Farshidian, Marco Hutter

2208.08373

Holo-Dex: Teaching Dexterity with Immersive Mixed Reality

Sridhar Pandian Arunachalam, Irmak Güzey, Soumith Chintala, Lerrel Pinto

2210.06463

AlphaDrive: Unleashing the Power of VLMs in Autonomous Driving via Reinforcement Learning and Reasoning

Bo Jiang, Shaoyu Chen, Qian Zhang, Wenyu Liu, Xinggang Wang

2503.07608

Drive Video Analysis for the Detection of Traffic Near-Miss Incidents

Hirokatsu Kataoka, Teppei Suzuki, Shoko Oikawa, Yasuhiro Matsui, Yutaka Satoh

1804.02555

Navigating Occluded Intersections with Autonomous Vehicles using Deep Reinforcement Learning

David Isele, Reza Rahimi, Akansel Cosgun, Kaushik Subramanian, Kikuo Fujimura

1705.01196

MEGA-DAgger: Imitation Learning with Multiple Imperfect Experts

Xiatao Sun, Shuo Yang, Mingyan Zhou, Kunpeng Liu, Rahul Mangharam

2303.00638

Projection-Based Constrained Policy Optimization

Tsung-Yen Yang, Justinian Rosca, Karthik Narasimhan, Peter J. Ramadge

2010.03152

Hydra-NeXt: Robust Closed-Loop Driving with Open-Loop Training

Zhenxin Li, Shihao Wang, Shiyi Lan, Zhiding Yu, Zuxuan Wu, Jose M. Alvarez

2503.12030

Multi-Task Reinforcement Learning with Context-based Representations

Shagun Sodhani, Amy Zhang, Joelle Pineau

2102.06177

Principles and Guidelines for Evaluating Social Robot Navigation Algorithms

Anthony Francis, Claudia Pérez-D'Arpino, Chengshu Li, Fei Xia, Alexandre Alahi, Rachid Alami, Aniket Bera, Abhijat Biswas, Joydeep Biswas, Rohan Chandra, Hao-Tien Lewis Chiang, Michael Everett, Sehoon Ha, Justin Hart, Jonathan P. How, Haresh Karnan, Tsang-Wei Edward Lee, Luis J. Manso, Reuth Mirksy, Sören Pirk, Phani Teja Singamaneni, Peter Stone, Ada V. Taylor, Peter Trautman, Nathan Tsoi, Marynel Vázquez, Xuesu Xiao, Peng Xu, Naoki Yokoyama, Alexander Toshev, Roberto Martín-Martín

2306.16740

Learning to Drive using Inverse Reinforcement Learning and Deep Q-Networks

Sahand Sharifzadeh, Ioannis Chiotellis, Rudolph Triebel, Daniel Cremers

1612.03653

Volumetric Grasping Network: Real-time 6 DOF Grasp Detection in Clutter

Michel Breyer, Jen Jen Chung, Lionel Ott, Roland Siegwart, Juan Nieto

2101.01132

Deep learning-based computer vision to recognize and classify suturing gestures in robot-assisted surgery

Francisco Luongo, Ryan Hakim, Jessica H. Nguyen, Animashree Anandkumar, Andrew J Hung

2008.11833

Learning Dexterous Grasping with Object-Centric Visual Affordances

Priyanka Mandikal, Kristen Grauman

2009.01439

PhyPlan: Compositional and Adaptive Physical Task Reasoning with Physics-Informed Skill Networks for Robot Manipulators

Harshil Vagadia, Mudit Chopra, Abhinav Barnawal, Tamajit Banerjee, Shreshth Tuli, Souvik Chakraborty, Rohan Paul

2402.15767

Latent Plans for Task-Agnostic Offline Reinforcement Learning

Erick Rosete-Beas, Oier Mees, Gabriel Kalweit, Joschka Boedecker, Wolfram Burgard

2209.08959

Learning Generalizable Robotic Reward Functions from "In-The-Wild" Human Videos

Annie S. Chen, Suraj Nair, Chelsea Finn

2103.16817

Auxiliary Tasks Speed Up Learning PointGoal Navigation

Joel Ye, Dhruv Batra, Erik Wijmans, Abhishek Das

2007.04561

Integrated Task and Motion Planning

Caelan Reed Garrett, Rohan Chitnis, Rachel Holladay, Beomjoon Kim, Tom Silver, Leslie Pack Kaelbling, Tomás Lozano-Pérez

2010.01083

ClearGrasp: 3D Shape Estimation of Transparent Objects for Manipulation

Shreeyak S. Sajjan, Matthew Moore, Mike Pan, Ganesh Nagaraja, Johnny Lee, Andy Zeng, Shuran Song

1910.02550

UniCon: Universal Neural Controller For Physics-based Character Motion

Tingwu Wang, Yunrong Guo, Maria Shugrina, Sanja Fidler

2011.15119

Data Efficient Reinforcement Learning for Legged Robots

Yuxiang Yang, Ken Caluwaerts, Atil Iscen, Tingnan Zhang, Jie Tan, Vikas Sindhwani

1907.03613

Solving Motion Planning Tasks with a Scalable Generative Model

Yihan Hu, Siqi Chai, Zhening Yang, Jingyu Qian, Kun Li, Wenxin Shao, Haichao Zhang, Wei Xu, Qiang Liu

2407.02797

Black-Box Data-efficient Policy Search for Robotics

Konstantinos Chatzilygeroudis, Roberto Rama, Rituraj Kaushik, Dorian Goepp, Vassilis Vassiliades, Jean-Baptiste Mouret

1703.07261

End-to-End Affordance Learning for Robotic Manipulation

Yiran Geng, Boshi An, Haoran Geng, Yuanpei Chen, Yaodong Yang, Hao Dong

2209.12941

ExAug: Robot-Conditioned Navigation Policies via Geometric Experience Augmentation

Noriaki Hirose, Dhruv Shah, Ajay Sridhar, Sergey Levine

2210.07450

Omnidata: A Scalable Pipeline for Making Multi-Task Mid-Level Vision Datasets from 3D Scans

Ainaz Eftekhar, Alexander Sax, Roman Bachmann, Jitendra Malik, Amir Zamir

2110.04994

Reactive Planar Manipulation with Convex Hybrid MPC

Francois Robert Hogan, Eudald Romo Grau, Alberto Rodriguez

1710.05724

ReSkin: versatile, replaceable, lasting tactile skins

Raunaq Bhirangi, Tess Hellebrekers, Carmel Majidi, Abhinav Gupta

2111.00071

High Acceleration Reinforcement Learning for Real-World Juggling with Binary Rewards

Kai Ploeger, Michael Lutter, Jan Peters

2010.13483

6-DoF Pose Estimation of Household Objects for Robotic Manipulation: An Accessible Dataset and Benchmark

Stephen Tyree, Jonathan Tremblay, Thang To, Jia Cheng, Terry Mosier, Jeffrey Smith, Stan Birchfield

2203.05701

Auxiliary Tasks and Exploration Enable ObjectNav

Joel Ye, Dhruv Batra, Abhishek Das, Erik Wijmans

2104.04112

Differentiable Raycasting for Self-supervised Occupancy Forecasting

Tarasha Khurana, Peiyun Hu, Achal Dave, Jason Ziglar, David Held, Deva Ramanan

2210.01917

Behind the Curtain: Learning Occluded Shapes for 3D Object Detection

Qiangeng Xu, Yiqi Zhong, Ulrich Neumann

2112.02205

SOLAR: Deep Structured Representations for Model-Based Reinforcement Learning

Marvin Zhang, Sharad Vikram, Laura Smith, Pieter Abbeel, Matthew J. Johnson, Sergey Levine

1808.09105

Transporter Networks: Rearranging the Visual World for Robotic Manipulation

Andy Zeng, Pete Florence, Jonathan Tompson, Stefan Welker, Jonathan Chien, Maria Attarian, Travis Armstrong, Ivan Krasin, Dan Duong, Ayzaan Wahid, Vikas Sindhwani, Johnny Lee

2010.14406

AVID: Learning Multi-Stage Tasks via Pixel-Level Translation of Human Videos

Laura Smith, Nikita Dhawan, Marvin Zhang, Pieter Abbeel, Sergey Levine

1912.04443

ELLA: Exploration through Learned Language Abstraction

Suvir Mirchandani, Siddharth Karamcheti, Dorsa Sadigh

2103.05825

SNE-RoadSeg: Incorporating Surface Normal Information into Semantic Segmentation for Accurate Freespace Detection

Rui Fan, Hengli Wang, Peide Cai, Ming Liu

2008.11351

Fast Object Learning and Dual-arm Coordination for Cluttered Stowing, Picking, and Packing

Max Schwarz, Christian Lenz, Germán Martín García, Seongyong Koo, Arul Selvam Periyasamy, Michael Schreiber, Sven Behnke

1810.02977

Task and Motion Planning with Large Language Models for Object Rearrangement

Yan Ding, Xiaohan Zhang, Chris Paxton, Shiqi Zhang

2303.06247

Multiple Futures Prediction

Yichuan Charlie Tang, Ruslan Salakhutdinov

1911.00997

Learning to See before Learning to Act: Visual Pre-training for Manipulation

Lin Yen-Chen, Andy Zeng, Shuran Song, Phillip Isola, Tsung-Yi Lin

2107.00646

DexArt: Benchmarking Generalizable Dexterous Manipulation with Articulated Objects

Chen Bao, Helin Xu, Yuzhe Qin, Xiaolong Wang

2305.05706

ADD: Analytically Differentiable Dynamics for Multi-Body Systems with Frictional Contact

Moritz Geilinger, David Hahn, Jonas Zehnder, Moritz Bächer, Bernhard Thomaszewski, Stelian Coros

2007.00987

Energy-constrained Self-training for Unsupervised Domain Adaptation

Xiaofeng Liu, Bo Hu, Xiongchang Liu, Jun Lu, Jane You, Lingsheng Kong

2101.00316

An Algorithmic Perspective on Imitation Learning

Takayuki Osa, Joni Pajarinen, Gerhard Neumann, J. Andrew Bagnell, Pieter Abbeel, Jan Peters

1811.06711

Sampling-based Planning of In-Hand Manipulation with External Pushes

Nikhil Chavan-Dafle, Alberto Rodriguez

1707.00318

Reasoning About Physical Interactions with Object-Oriented Prediction and Planning

Michael Janner, Sergey Levine, William T. Freeman, Joshua B. Tenenbaum, Chelsea Finn, Jiajun Wu

1812.10972

The EMPATHIC Framework for Task Learning from Implicit Human Feedback

Yuchen Cui, Qiping Zhang, Alessandro Allievi, Peter Stone, Scott Niekum, W. Bradley Knox

2009.13649

In Perfect Shape: Certifiably Optimal 3D Shape Reconstruction from 2D Landmarks

Heng Yang, Luca Carlone

1911.11924

Greedy Hierarchical Variational Autoencoders for Large-Scale Video Prediction

Bohan Wu, Suraj Nair, Roberto Martin-Martin, Li Fei-Fei, Chelsea Finn

2103.04174

Generalizing Motion Planners with Mixture of Experts for Autonomous Driving

Qiao Sun, Huimin Wang, Jiahao Zhan, Fan Nie, Xin Wen, Leimeng Xu, Kun Zhan, Peng Jia, Xianpeng Lang, Hang Zhao

2410.15774

Learning-based Model Predictive Control for Safe Exploration

Torsten Koller, Felix Berkenkamp, Matteo Turchetta, Andreas Krause

1803.08287

Reinforcement Learning with Videos: Combining Offline Observations with Interaction

Karl Schmeckpeper, Oleh Rybkin, Kostas Daniilidis, Sergey Levine, Chelsea Finn

2011.06507

AMVNet: Assertion-based Multi-View Fusion Network for LiDAR Semantic Segmentation

Venice Erin Liong, Thi Ngoc Tho Nguyen, Sergi Widjaja, Dhananjai Sharma, Zhuang Jie Chong

2012.04934

TrackMPNN: A Message Passing Graph Neural Architecture for Multi-Object Tracking

Akshay Rangesh, Pranav Maheshwari, Mez Gebre, Siddhesh Mhatre, Vahid Ramezani, Mohan M. Trivedi

2101.04206

Skew-Fit: State-Covering Self-Supervised Reinforcement Learning

Vitchyr H. Pong, Murtaza Dalal, Steven Lin, Ashvin Nair, Shikhar Bahl, Sergey Levine

1903.03698

Agentic Robot: A Brain-Inspired Framework for Vision-Language-Action Models in Embodied Agents

Zhejian Yang, Yongchao Chen, Xueyang Zhou, Jiangyue Yan, Dingjie Song, Yinuo Liu, Yuting Li, Yu Zhang, Pan Zhou, Hechang Chen, Lichao Sun

2505.23450

Masked World Models for Visual Control

Younggyo Seo, Danijar Hafner, Hao Liu, Fangchen Liu, Stephen James, Kimin Lee, Pieter Abbeel

2206.14244

THOMAS: Trajectory Heatmap Output with learned Multi-Agent Sampling

Thomas Gilles, Stefano Sabatini, Dzmitry Tsishkou, Bogdan Stanciulescu, Fabien Moutarde

2110.06607

PnPNet: End-to-End Perception and Prediction with Tracking in the Loop

Ming Liang, Bin Yang, Wenyuan Zeng, Yun Chen, Rui Hu, Sergio Casas, Raquel Urtasun

2005.14711

Few-Shot Preference Learning for Human-in-the-Loop RL

Joey Hejna, Dorsa Sadigh

2212.03363

Learning Model Predictive Controllers with Real-Time Attention for Real-World Navigation

Xuesu Xiao, Tingnan Zhang, Krzysztof Choromanski, Edward Lee, Anthony Francis, Jake Varley, Stephen Tu, Sumeet Singh, Peng Xu, Fei Xia, Sven Mikael Persson, Dmitry Kalashnikov, Leila Takayama, Roy Frostig, Jie Tan, Carolina Parada, Vikas Sindhwani

2209.10780

Cross-Domain Imitation Learning via Optimal Transport

Arnaud Fickinger, Samuel Cohen, Stuart Russell, Brandon Amos

2110.03684

Recent Advances in Imitation Learning from Observation

Faraz Torabi, Garrett Warnell, Peter Stone

1905.13566

BatVision: Learning to See 3D Spatial Layout with Two Ears

Jesper Haahr Christensen, Sascha Hornauer, Stella Yu

1912.07011

StereOBJ-1M: Large-scale Stereo Image Dataset for 6D Object Pose Estimation

Xingyu Liu, Shun Iwase, Kris M. Kitani

2109.10115

Motion2Vec: Semi-Supervised Representation Learning from Surgical Videos

Ajay Kumar Tanwani, Pierre Sermanet, Andy Yan, Raghav Anand, Mariano Phielipp, Ken Goldberg

2006.00545

Listen, Attend, and Walk: Neural Mapping of Navigational Instructions to Action Sequences

Hongyuan Mei, Mohit Bansal, Matthew R. Walter

1506.04089

Autonomous Sweet Pepper Harvesting for Protected Cropping Systems

Chris Lehnert, Andrew English, Chris McCool, Adam Tow, Tristan Perez

1706.02023

Dex-NeRF: Using a Neural Radiance Field to Grasp Transparent Objects

Jeffrey Ichnowski, Yahav Avigal, Justin Kerr, Ken Goldberg

2110.14217

Fighting Copycat Agents in Behavioral Cloning from Observation Histories

Chuan Wen, Jierui Lin, Trevor Darrell, Dinesh Jayaraman, Yang Gao

2010.14876

AnyGrasp: Robust and Efficient Grasp Perception in Spatial and Temporal Domains

Hao-Shu Fang, Chenxi Wang, Hongjie Fang, Minghao Gou, Jirong Liu, Hengxu Yan, Wenhai Liu, Yichen Xie, Cewu Lu

2212.08333

ALFWorld: Aligning Text and Embodied Environments for Interactive Learning

Mohit Shridhar, Xingdi Yuan, Marc-Alexandre Côté, Yonatan Bisk, Adam Trischler, Matthew Hausknecht

2010.03768

INTERACTION Dataset: An INTERnational, Adversarial and Cooperative moTION Dataset in Interactive Driving Scenarios with Semantic Maps

Wei Zhan, Liting Sun, Di Wang, Haojie Shi, Aubrey Clausse, Maximilian Naumann, Julius Kummerle, Hendrik Konigshof, Christoph Stiller, Arnaud de La Fortelle, Masayoshi Tomizuka

1910.03088

PointNet++ Grasping: Learning An End-to-end Spatial Grasp Generation Algorithm from Sparse Point Clouds

Peiyuan Ni, Wenguang Zhang, Xiaoxiao Zhu, Qixin Cao

2003.09644

Deep Imitative Models for Flexible Inference, Planning, and Control

Nicholas Rhinehart, Rowan McAllister, Sergey Levine

1810.06544

Learning to Jump from Pixels

Gabriel B. Margolis, Tao Chen, Kartik Paigwar, Xiang Fu, Donghyun Kim, Sangbae Kim, Pulkit Agrawal

2110.15344

Real-time Convolutional Neural Networks for Emotion and Gender Classification

Octavio Arriaga, Matias Valdenegro-Toro, Paul Plöger

1710.07557

Depth from Videos in the Wild: Unsupervised Monocular Depth Learning from Unknown Cameras

Ariel Gordon, Hanhan Li, Rico Jonschkowski, Anelia Angelova

1904.04998

ZSON: Zero-Shot Object-Goal Navigation using Multimodal Goal Embeddings

Arjun Majumdar, Gunjan Aggarwal, Bhavika Devnani, Judy Hoffman, Dhruv Batra

2206.12403

Robust Grasp Planning Over Uncertain Shape Completions

Jens Lundell, Francesco Verdoja, Ville Kyrki

1903.00645

Robotic Telekinesis: Learning a Robotic Hand Imitator by Watching Humans on Youtube

Aravind Sivakumar, Kenneth Shaw, Deepak Pathak

2202.10448

Image2Point: 3D Point-Cloud Understanding with 2D Image Pretrained Models

Chenfeng Xu, Shijia Yang, Tomer Galanti, Bichen Wu, Xiangyu Yue, Bohan Zhai, Wei Zhan, Peter Vajda, Kurt Keutzer, Masayoshi Tomizuka

2106.04180

CERBERUS: Autonomous Legged and Aerial Robotic Exploration in the Tunnel and Urban Circuits of the DARPA Subterranean Challenge

Marco Tranzatto, Frank Mascarich, Lukas Bernreiter, Carolina Godinho, Marco Camurri, Shehryar Khattak, Tung Dang, Victor Reijgwart, Johannes Loeje, David Wisth, Samuel Zimmermann, Huan Nguyen, Marius Fehr, Lukas Solanka, Russell Buchanan, Marko Bjelonic, Nikhil Khedekar, Mathieu Valceschini, Fabian Jenelten, Mihir Dharmadhikari, Timon Homberger, Paolo De Petris, Lorenz Wellhausen, Mihir Kulkarni, Takahiro Miki, Satchel Hirsch, Markus Montenegro, Christos Papachristos, Fabian Tresoldi, Jan Carius, Giorgio Valsecchi, Joonho Lee, Konrad Meyer, Xiangyu Wu, Juan Nieto, Andy Smith, Marco Hutter, Roland Siegwart, Mark Mueller, Maurice Fallon, Kostas Alexis

2201.07067

Deep Learning for Tactile Understanding From Visual and Haptic Data

Yang Gao, Lisa Anne Hendricks, Katherine J. Kuchenbecker, Trevor Darrell

1511.06065

Exploiting Sparse Semantic HD Maps for Self-Driving Vehicle Localization

Wei-Chiu Ma, Ignacio Tartavull, Ioan Andrei Bârsan, Shenlong Wang, Min Bai, Gellert Mattyus, Namdar Homayounfar, Shrinidhi Kowshika Lakshmikanth, Andrei Pokrovsky, Raquel Urtasun

1908.03274

Learning Latent Actions to Control Assistive Robots

Dylan P. Losey, Hong Jun Jeon, Mengxi Li, Krishnan Srinivasan, Ajay Mandlekar, Animesh Garg, Jeannette Bohg, Dorsa Sadigh

2107.02907

Perceive, Predict, and Plan: Safe Motion Planning Through Interpretable Semantic Representations

Abbas Sadat, Sergio Casas, Mengye Ren, Xinyu Wu, Pranaab Dhawan, Raquel Urtasun

2008.05930

PLUTO: Pushing the Limit of Imitation Learning-based Planning for Autonomous Driving

Jie Cheng, Yingbing Chen, Qifeng Chen

2404.14327

WorldVLA: Towards Autoregressive Action World Model

Jun Cen, Chaohui Yu, Hangjie Yuan, Yuming Jiang, Siteng Huang, Jiayan Guo, Xin Li, Yibing Song, Hao Luo, Fan Wang, Deli Zhao, Hao Chen

2506.21539

TartanVO: A Generalizable Learning-based VO

Wenshan Wang, Yaoyu Hu, Sebastian Scherer

2011.00359

EGAD! an Evolved Grasping Analysis Dataset for diversity and reproducibility in robotic manipulation

Douglas Morrison, Peter Corke, Jürgen Leitner

2003.01314

Receive, Reason, and React: Drive as You Say with Large Language Models in Autonomous Vehicles

Can Cui, Yunsheng Ma, Xu Cao, Wenqian Ye, Ziran Wang

2310.08034

Semi-Supervised Haptic Material Recognition for Robots using Generative Adversarial Networks

Zackory Erickson, Sonia Chernova, Charles C. Kemp

1707.02796

From Play to Policy: Conditional Behavior Generation from Uncurated Robot Data

Zichen Jeff Cui, Yibin Wang, Nur Muhammad Mahi Shafiullah, Lerrel Pinto

2210.10047

Diffusion-ES: Gradient-free Planning with Diffusion for Autonomous Driving and Zero-Shot Instruction Following

Brian Yang, Huangyuan Su, Nikolaos Gkanatsios, Tsung-Wei Ke, Ayush Jain, Jeff Schneider, Katerina Fragkiadaki

2402.06559

Chasing Ghosts: Instruction Following as Bayesian State Tracking

Peter Anderson, Ayush Shrivastava, Devi Parikh, Dhruv Batra, Stefan Lee

1907.02022

Plan Online, Learn Offline: Efficient Learning and Exploration via Model-Based Control

Kendall Lowrey, Aravind Rajeswaran, Sham Kakade, Emanuel Todorov, Igor Mordatch

1811.01848

BADGR: An Autonomous Self-Supervised Learning-Based Navigation System

Gregory Kahn, Pieter Abbeel, Sergey Levine

2002.05700

Q-Transformer: Scalable Offline Reinforcement Learning via Autoregressive Q-Functions

Yevgen Chebotar, Quan Vuong, Alex Irpan, Karol Hausman, Fei Xia, Yao Lu, Aviral Kumar, Tianhe Yu, Alexander Herzog, Karl Pertsch, Keerthana Gopalakrishnan, Julian Ibarz, Ofir Nachum, Sumedh Sontakke, Grecia Salazar, Huong T Tran, Jodilyn Peralta, Clayton Tan, Deeksha Manjunath, Jaspiar Singht, Brianna Zitkovich, Tomas Jackson, Kanishka Rao, Chelsea Finn, Sergey Levine

2309.10150

daVinciNet: Joint Prediction of Motion and Surgical State in Robot-Assisted Surgery

Yidan Qin, Seyedshams Feyzabadi, Max Allan, Joel W. Burdick, Mahdi Azizian

2009.11937

Learning by Watching: Physical Imitation of Manipulation Skills from Human Videos

Haoyu Xiong, Quanzhou Li, Yun-Chun Chen, Homanga Bharadhwaj, Samarth Sinha, Animesh Garg

2101.07241

Encoding Physical Constraints in Differentiable Newton-Euler Algorithm

Giovanni Sutanto, Austin S. Wang, Yixin Lin, Mustafa Mukadam, Gaurav S. Sukhatme, Akshara Rai, Franziska Meier

2001.08861

Self-Supervised Siamese Learning on Stereo Image Pairs for Depth Estimation in Robotic Surgery

Menglong Ye, Edward Johns, Ankur Handa, Lin Zhang, Philip Pratt, Guang-Zhong Yang

1705.08260

UniSim: A Neural Closed-Loop Sensor Simulator

Ze Yang, Yun Chen, Jingkang Wang, Sivabalan Manivasagam, Wei-Chiu Ma, Anqi Joyce Yang, Raquel Urtasun

2308.01898

The Distracting Control Suite -- A Challenging Benchmark for Reinforcement Learning from Pixels

Austin Stone, Oscar Ramirez, Kurt Konolige, Rico Jonschkowski

2101.02722

Fast Optical Flow using Dense Inverse Search

Till Kroeger, Radu Timofte, Dengxin Dai, Luc Van Gool

1603.03590

Learning Deep Control Policies for Autonomous Aerial Vehicles with MPC-Guided Policy Search

Tianhao Zhang, Gregory Kahn, Sergey Levine, Pieter Abbeel

1509.06791

ChatGPT Empowered Long-Step Robot Control in Various Environments: A Case Application

Naoki Wake, Atsushi Kanehira, Kazuhiro Sasabuchi, Jun Takamatsu, Katsushi Ikeuchi

2304.03893

Reflection methods for user-friendly submodular optimization

Stefanie Jegelka, Francis Bach, Suvrit Sra

1311.4296

ERRA: An Embodied Representation and Reasoning Architecture for Long-horizon Language-conditioned Manipulation Tasks

Chao Zhao, Shuai Yuan, Chunli Jiang, Junhao Cai, Hongyu Yu, Michael Yu Wang, Qifeng Chen

2304.02251

Open-World Object Manipulation using Pre-trained Vision-Language Models

Austin Stone, Ted Xiao, Yao Lu, Keerthana Gopalakrishnan, Kuang-Huei Lee, Quan Vuong, Paul Wohlhart, Sean Kirmani, Brianna Zitkovich, Fei Xia, Chelsea Finn, Karol Hausman

2303.00905

PIRLNav: Pretraining with Imitation and RL Finetuning for ObjectNav

Ram Ramrakhya, Dhruv Batra, Erik Wijmans, Abhishek Das

2301.07302

BOP: Benchmark for 6D Object Pose Estimation

Tomas Hodan, Frank Michel, Eric Brachmann, Wadim Kehl, Anders Glent Buch, Dirk Kraft, Bertram Drost, Joel Vidal, Stephan Ihrke, Xenophon Zabulis, Caner Sahin, Fabian Manhardt, Federico Tombari, Tae-Kyun Kim, Jiri Matas, Carsten Rother

1808.08319

Fine-Tuning Vision-Language-Action Models: Optimizing Speed and Success

Moo Jin Kim, Chelsea Finn, Percy Liang

2502.19645

Learning Fine-Grained Bimanual Manipulation with Low-Cost Hardware

Tony Z. Zhao, Vikash Kumar, Sergey Levine, Chelsea Finn

2304.13705

Evolutionary Population Curriculum for Scaling Multi-Agent Reinforcement Learning

Qian Long, Zihan Zhou, Abhibav Gupta, Fei Fang, Yi Wu, Xiaolong Wang

2003.10423

Brax -- A Differentiable Physics Engine for Large Scale Rigid Body Simulation

C. Daniel Freeman, Erik Frey, Anton Raichuk, Sertan Girgin, Igor Mordatch, Olivier Bachem

2106.13281

Deep Dynamics Models for Learning Dexterous Manipulation

Anusha Nagabandi, Kurt Konoglie, Sergey Levine, Vikash Kumar

1909.11652

GPT-Driver: Learning to Drive with GPT

Jiageng Mao, Yuxi Qian, Junjie Ye, Hang Zhao, Yue Wang

2310.01415

Relation-Shape Convolutional Neural Network for Point Cloud Analysis

Yongcheng Liu, Bin Fan, Shiming Xiang, Chunhong Pan

1904.07601

MP3: A Unified Model to Map, Perceive, Predict and Plan

Sergio Casas, Abbas Sadat, Raquel Urtasun

2101.06806

Act3D: 3D Feature Field Transformers for Multi-Task Robotic Manipulation

Theophile Gervet, Zhou Xian, Nikolaos Gkanatsios, Katerina Fragkiadaki

2306.17817

Towards Safe Autonomous Driving: Capture Uncertainty in the Deep Neural Network For Lidar 3D Vehicle Detection

Di Feng, Lars Rosenbaum, Klaus Dietmayer

1804.05132

Grasping in the Wild:Learning 6DoF Closed-Loop Grasping from Low-Cost Demonstrations

Shuran Song, Andy Zeng, Johnny Lee, Thomas Funkhouser

1912.04344

Guided Flows for Generative Modeling and Decision Making

Qinqing Zheng, Matt Le, Neta Shaul, Yaron Lipman, Aditya Grover, Ricky T. Q. Chen

2311.13443

Keep Doing What Worked: Behavioral Modelling Priors for Offline Reinforcement Learning

Noah Y. Siegel, Jost Tobias Springenberg, Felix Berkenkamp, Abbas Abdolmaleki, Michael Neunert, Thomas Lampe, Roland Hafner, Nicolas Heess, Martin Riedmiller

2002.08396

Neural Radiance Flow for 4D View Synthesis and Video Processing

Yilun Du, Yinan Zhang, Hong-Xing Yu, Joshua B. Tenenbaum, Jiajun Wu

2012.09790

Look, Listen, and Act: Towards Audio-Visual Embodied Navigation

Chuang Gan, Yiwei Zhang, Jiajun Wu, Boqing Gong, Joshua B. Tenenbaum

1912.11684

Semantic Audio-Visual Navigation

Changan Chen, Ziad Al-Halah, Kristen Grauman

2012.11583