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1710.06425
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Domain Randomization and Generative Models for Robotic Grasping
17 October 2017
Joshua Tobin
Lukas Biewald
Rocky Duan
Marcin Andrychowicz
Ankur Handa
Vikash Kumar
Bob McGrew
Jonas Schneider
Peter Welinder
Wojciech Zaremba
Pieter Abbeel
OOD
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Papers citing
"Domain Randomization and Generative Models for Robotic Grasping"
50 / 83 papers shown
Title
GET-USE: Learning Generalized Tool Usage for Bimanual Mobile Manipulation via Simulated Embodiment Extensions
Bohan Wu
Paul de La Sayette
L. Fei-Fei
Roberto Martín-Martín
12
0
0
29 Oct 2025
Stable-Sim2Real: Exploring Simulation of Real-Captured 3D Data with Two-Stage Depth Diffusion
Mutian Xu
Chongjie Ye
Haolin Liu
Yushuang Wu
Jiahao Chang
Xiaoguang Han
DiffM
115
0
0
31 Jul 2025
HuB: Learning Extreme Humanoid Balance
Tong Zhang
Boyuan Zheng
Ruiqian Nai
Yingdong Hu
Yen-Jen Wang
...
Fanqi Lin
Jiongye Li
Chuye Hong
Koushil Sreenath
Yang Gao
168
14
0
12 May 2025
A Schwarz-Christoffel Mapping-based Framework for Sim-to-Real Transfer in Autonomous Robot Operations
Shijie Gao
Nicola Bezzo
131
0
0
20 Mar 2025
FSPO: Few-Shot Preference Optimization of Synthetic Preference Data in LLMs Elicits Effective Personalization to Real Users
Anikait Singh
Sheryl Hsu
Kyle Hsu
E. Mitchell
Stefano Ermon
Tatsunori Hashimoto
Archit Sharma
Chelsea Finn
SyDa
OffRL
206
13
0
26 Feb 2025
Attribute-Based Robotic Grasping with Data-Efficient Adaptation
IEEE Transactions on robotics (IEEE TRO), 2025
Yang Yang
Houjian Yu
Xibai Lou
Yuanhao Liu
Changhyun Choi
260
17
0
04 Jan 2025
Perception Stitching: Zero-Shot Perception Encoder Transfer for Visuomotor Robot Policies
Pingcheng Jian
Easop Lee
Zachary I. Bell
Michael M. Zavlanos
Boyuan Chen
325
1
0
03 Jan 2025
3D-CDRGP: Towards Cross-Device Robotic Grasping Policy in 3D Open World
Weiguang Zhao
Chenru Jiang
Chengrui Zhang
Jie Sun
Yuyao Yan
Rui Zhang
K. Huang
261
0
0
27 Nov 2024
Environment as Policy: Learning to Race in Unseen Tracks
IEEE International Conference on Robotics and Automation (ICRA), 2024
Hongze Wang
Jiaxu Xing
Nico Messikommer
Davide Scaramuzza
243
4
0
29 Oct 2024
Generalizing 6-DoF Grasp Detection via Domain Prior Knowledge
Computer Vision and Pattern Recognition (CVPR), 2024
Haoxiang Ma
Modi Shi
Boyang Gao
Di Huang
166
7
0
02 Apr 2024
Sim-to-Real Grasp Detection with Global-to-Local RGB-D Adaptation
IEEE International Conference on Robotics and Automation (ICRA), 2024
Haoxiang Ma
Ran Qin
Modi Shi
Boyang Gao
Di Huang
159
7
0
18 Mar 2024
ALDM-Grasping: Diffusion-aided Zero-Shot Sim-to-Real Transfer for Robot Grasping
Yiwei Li
Zihao Wu
Huaqin Zhao
Tianze Yang
Zheng Liu
Peng Shu
Jin Sun
Ramviyas Parasuraman
Tianming Liu
187
3
0
18 Mar 2024
Initialisation of Autonomous Aircraft Visual Inspection Systems via CNN-Based Camera Pose Estimation
IEEE International Conference on Robotics and Automation (ICRA), 2021
Xueyan Oh
Leonard Kin Yung Loh
Shaohui Foong
Zhong Bao Andy Koh
Kow Leong Ng
Poh Kang Tan
Pei Lin Pearlin Toh
U-Xuan Tan
77
1
0
06 Nov 2023
Stable In-hand Manipulation with Finger Specific Multi-agent Shadow Reward
Lingfeng Tao
Jiucai Zhang
Xiaoli Zhang
116
0
0
13 Sep 2023
Structured World Models from Human Videos
Russell Mendonca
Shikhar Bahl
Deepak Pathak
LM&Ro
172
130
0
21 Aug 2023
What Went Wrong? Closing the Sim-to-Real Gap via Differentiable Causal Discovery
Conference on Robot Learning (CoRL), 2023
Peide Huang
Xilun Zhang
Ziang Cao
Shiqi Liu
Mengdi Xu
Wenhao Ding
Jonathan M Francis
Bingqing Chen
Ding Zhao
222
33
0
28 Jun 2023
M-EMBER: Tackling Long-Horizon Mobile Manipulation via Factorized Domain Transfer
IEEE International Conference on Robotics and Automation (ICRA), 2023
Bohan Wu
Roberto Martin-Martin
Li Fei-Fei
162
14
0
23 May 2023
Sim2Rec: A Simulator-based Decision-making Approach to Optimize Real-World Long-term User Engagement in Sequential Recommender Systems
IEEE International Conference on Data Engineering (ICDE), 2023
Xiong-Hui Chen
Bowei He
Yangze Yu
Qingyang Li
Zhiwei Qin
Wenjie Shang
Jieping Ye
Chen Ma
OffRL
130
15
0
03 May 2023
Learning Flight Control Systems from Human Demonstrations and Real-Time Uncertainty-Informed Interventions
Prashant Ganesh
J. H. Ramos
Vinicius G. Goecks
Jared Paquet
Matthew Longmire
Nicholas R. Waytowich
Kevin Brink
70
0
0
01 May 2023
Natural Language Robot Programming: NLP integrated with autonomous robotic grasping
Muhammad Arshad Khan
Max Kenney
Jack Painter
Disha Kamale
Riza Batista-Navarro
Amir M. Ghalamzan-E.
LM&Ro
96
4
0
06 Apr 2023
Markerless Camera-to-Robot Pose Estimation via Self-supervised Sim-to-Real Transfer
Computer Vision and Pattern Recognition (CVPR), 2023
Jingpei Lu
Florian Richter
Michael C. Yip
111
30
0
28 Feb 2023
GenAug: Retargeting behaviors to unseen situations via Generative Augmentation
Zoey Chen
Sho Kiami
Abhishek Gupta
Vikash Kumar
LM&Ro
147
111
0
13 Feb 2023
Sim2Real Grasp Pose Estimation for Adaptive Robotic Applications
IFAC-PapersOnLine (IFAC-PapersOnLine), 2022
Dániel Horváth
Kristóf Bocsi
Gábor Erdös
Z. Istenes
142
9
0
02 Nov 2022
Learning Robust Real-World Dexterous Grasping Policies via Implicit Shape Augmentation
Conference on Robot Learning (CoRL), 2022
Zoey Qiuyu Chen
Karl Van Wyk
Yu-Wei Chao
Wei Yang
Arsalan Mousavian
Abhishek Gupta
Dieter Fox
123
36
0
24 Oct 2022
Palm up: Playing in the Latent Manifold for Unsupervised Pretraining
Neural Information Processing Systems (NeurIPS), 2022
Hao Liu
Tom Zahavy
Volodymyr Mnih
Satinder Singh
SSL
219
7
0
19 Oct 2022
Learning to Efficiently Plan Robust Frictional Multi-Object Grasps
IEEE/RJS International Conference on Intelligent RObots and Systems (IROS), 2022
Wisdom C. Agboh
Satvik Sharma
Kishore Srinivas
Mallika Parulekar
Gaurav Datta
Tianshuang Qiu
Jeffrey Ichnowski
Eugen Solowjow
M. Dogar
Ken Goldberg
206
14
0
13 Oct 2022
Back-to-Bones: Rediscovering the Role of Backbones in Domain Generalization
Pattern Recognition (Pattern Recogn.), 2022
Simone Angarano
Mauro Martini
Francesco Salvetti
Vittorio Mazzia
Marcello Chiaberge
OOD
212
17
0
02 Sep 2022
Object Detection Using Sim2Real Domain Randomization for Robotic Applications
IEEE Transactions on robotics (TRO), 2022
Dániel Horváth
Gábor Erdös
Z. Istenes
Tomáš Horváth
S. Földi
123
61
0
08 Aug 2022
DA
2
^2
2
Dataset: Toward Dexterity-Aware Dual-Arm Grasping
IEEE Robotics and Automation Letters (RA-L), 2022
Guangyao Zhai
Yu Zheng
Ziwei Xu
Xin Kong
Yong Liu
Benjamin Busam
Yi Ren
Nassir Navab
Zhengyou Zhang
113
19
0
31 Jul 2022
Towards Domain-agnostic Depth Completion
Machine Intelligence Research (MIR), 2022
Guangkai Xu
Wei Yin
Jianming Zhang
Oliver Wang
Simon Niklaus
Simon Chen
Jia-Wang Bian
VLM
MDE
107
11
0
29 Jul 2022
Deep Learning Approaches to Grasp Synthesis: A Review
IEEE Transactions on robotics (TRO), 2022
Rhys Newbury
Morris Gu
Lachlan Chumbley
Arsalan Mousavian
Clemens Eppner
...
A. Morales
Tamim Asfour
Danica Kragic
Dieter Fox
Akansel Cosgun
223
217
0
06 Jul 2022
Reinforcement Learning for Vision-based Object Manipulation with Non-parametric Policy and Action Primitives
IEEE/RJS International Conference on Intelligent RObots and Systems (IROS), 2021
Dongwon Son
Myungsin Kim
Jaecheol Sim
Wonsik Shin
95
1
0
12 Jun 2022
Synthesizing Adversarial Visual Scenarios for Model-Based Robotic Control
Conference on Robot Learning (CoRL), 2022
Shubhankar Agarwal
Sandeep Chinchali
AAML
172
5
0
13 Apr 2022
Bayesian Optimisation for Robust Model Predictive Control under Model Parameter Uncertainty
IEEE International Conference on Robotics and Automation (ICRA), 2022
Rel Guzman
Rafael Oliveira
Fabio Ramos
214
5
0
01 Mar 2022
BC-Z: Zero-Shot Task Generalization with Robotic Imitation Learning
Conference on Robot Learning (CoRL), 2022
Eric Jang
A. Irpan
Mohi Khansari
Daniel Kappler
F. Ebert
Corey Lynch
Sergey Levine
Chelsea Finn
LM&Ro
474
650
0
04 Feb 2022
Primitive Shape Recognition for Object Grasping
Yunzhi Lin
Chao Tang
Fu-Jen Chu
Ruinian Xu
Patricio A. Vela
139
8
0
04 Jan 2022
Synthetic Data and Simulators for Recommendation Systems: Current State and Future Directions
Adam Lesnikowski
Gabriel de Souza P. Moreira
Sara Rabhi
K. Byleen-Higley
ELM
135
3
0
21 Dec 2021
Distilled Domain Randomization
J. Brosseit
Benedikt Hahner
Fabio Muratore
Michael Gienger
Jan Peters
93
4
0
06 Dec 2021
Stronger Generalization Guarantees for Robot Learning by Combining Generative Models and Real-World Data
Abhinav Agarwal
Sushant Veer
Allen Z. Ren
Anirudha Majumdar
99
2
0
16 Nov 2021
Beyond Pick-and-Place: Tackling Robotic Stacking of Diverse Shapes
Conference on Robot Learning (CoRL), 2021
Alex X. Lee
Coline Devin
Yuxiang Zhou
Thomas Lampe
Konstantinos Bousmalis
...
Stefano Saliceti
Federico Casarini
Martin Riedmiller
R. Hadsell
F. Nori
OffRL
189
112
0
12 Oct 2021
OTTR: Off-Road Trajectory Tracking using Reinforcement Learning
Akhil Nagariya
D. Kalathil
Srikanth Saripalli
OffRL
83
1
0
05 Oct 2021
Ab Initio Particle-based Object Manipulation
Siwei Chen
Xiao Ma
Yunfan Lu
David Hsu
LM&Ro
71
11
0
19 Jul 2021
Distributionally Robust Policy Learning via Adversarial Environment Generation
Allen Z. Ren
Anirudha Majumdar
OOD
367
17
0
13 Jul 2021
Unity Perception: Generate Synthetic Data for Computer Vision
S. Borkman
A. Crespi
S. Dhakad
Sujoy Ganguly
Jonathan Hogins
...
Cesar Romero
Wesley Smith
Alex Thaman
Samuel Warren
Nupur Yadav
3DV
SyDa
VLM
165
116
0
09 Jul 2021
Unsupervised Feature Learning for Manipulation with Contrastive Domain Randomization
IEEE International Conference on Robotics and Automation (ICRA), 2021
Carmel Rabinovitz
Niko A. Grupen
Aviv Tamar
OOD
SSL
106
4
0
20 Mar 2021
ACRONYM: A Large-Scale Grasp Dataset Based on Simulation
IEEE International Conference on Robotics and Automation (ICRA), 2020
Clemens Eppner
Arsalan Mousavian
Dieter Fox
201
238
0
18 Nov 2020
Benchmarking Domain Randomisation for Visual Sim-to-Real Transfer
IEEE International Conference on Robotics and Automation (ICRA), 2020
Raghad Alghonaim
Edward Johns
223
25
0
13 Nov 2020
Goal-Auxiliary Actor-Critic for 6D Robotic Grasping with Point Clouds
Conference on Robot Learning (CoRL), 2020
Lirui Wang
Yu Xiang
Wei Yang
Arsalan Mousavian
Dieter Fox
3DPC
340
53
0
02 Oct 2020
An Imitation from Observation Approach to Transfer Learning with Dynamics Mismatch
Siddarth Desai
Ishan Durugkar
Haresh Karnan
Garrett A. Warnell
Josiah P. Hanna
Peter Stone
139
5
0
04 Aug 2020
Dialog as a Vehicle for Lifelong Learning
Aishwarya Padmakumar
Raymond J. Mooney
78
2
0
26 Jun 2020
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