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ReLMoGen: Leveraging Motion Generation in Reinforcement Learning for
  Mobile Manipulation
v1v2 (latest)

ReLMoGen: Leveraging Motion Generation in Reinforcement Learning for Mobile Manipulation

18 August 2020
Fei Xia
Chengshu Li
Roberto Martín-Martín
Or Litany
Alexander Toshev
Silvio Savarese
ArXiv (abs)PDFHTML

Papers citing "ReLMoGen: Leveraging Motion Generation in Reinforcement Learning for Mobile Manipulation"

50 / 52 papers shown
Manipulate-to-Navigate: Reinforcement Learning with Visual Affordances and Manipulability Priors
Manipulate-to-Navigate: Reinforcement Learning with Visual Affordances and Manipulability Priors
Yuying Zhang
Joni Pajarinen
130
1
0
18 Aug 2025
Grounding Actions in Camera Space: Observation-Centric Vision-Language-Action Policy
Grounding Actions in Camera Space: Observation-Centric Vision-Language-Action Policy
Tianyi Zhang
Haonan Duan
Haoran Hao
Yu Qiao
Jifeng Dai
Zhi Hou
200
4
0
18 Aug 2025
Planning under Uncertainty to Goal Distributions
Planning under Uncertainty to Goal Distributions
Adam Conkey
Tucker Hermans
422
3
0
01 Jul 2025
Efficient Navigation Among Movable Obstacles using a Mobile Manipulator via Hierarchical Policy Learning
Efficient Navigation Among Movable Obstacles using a Mobile Manipulator via Hierarchical Policy Learning
Taegeun Yang
Jiwoo Hwang
Jeil Jeong
Minsung Yoon
Sung-Eui Yoon
310
3
0
18 Jun 2025
CuriousBot: Interactive Mobile Exploration via Actionable 3D Relational Object Graph
CuriousBot: Interactive Mobile Exploration via Actionable 3D Relational Object Graph
Yixuan Wang
Leonor Fermoselle
Tarik Kelestemur
Jiuguang Wang
Yunzhu Li
335
5
0
23 Jan 2025
Learning Policies for Dynamic Coalition Formation in Multi-Robot Task Allocation
Learning Policies for Dynamic Coalition Formation in Multi-Robot Task AllocationIEEE Robotics and Automation Letters (RA-L), 2024
Lucas C. D. Bezerra
Ataíde M. G. dos Santos
Shinkyu Park
312
3
0
29 Dec 2024
Combining Planning and Diffusion for Mobility with Unknown Dynamics
Combining Planning and Diffusion for Mobility with Unknown Dynamics
Yajvan Ravan
Zhutian Yang
Tao Chen
Tomás Lozano-Pérez
Leslie Pack Kaelbling
301
7
0
09 Oct 2024
Plan-Seq-Learn: Language Model Guided RL for Solving Long Horizon
  Robotics Tasks
Plan-Seq-Learn: Language Model Guided RL for Solving Long Horizon Robotics TasksInternational Conference on Learning Representations (ICLR), 2024
Murtaza Dalal
Tarun Chiruvolu
Devendra Singh Chaplot
Ruslan Salakhutdinov
LM&Ro
421
83
0
02 May 2024
Deep Imitation Learning for Humanoid Loco-manipulation through Human
  Teleoperation
Deep Imitation Learning for Humanoid Loco-manipulation through Human TeleoperationIEEE-RAS International Conference on Humanoid Robots (Humanoids), 2023
Mingyo Seo
Steve Han
Kyutae Sim
S. Bang
Carlos Gonzalez
Luis Sentis
Yuke Zhu
335
102
0
05 Sep 2023
Symbolic State Space Optimization for Long Horizon Mobile Manipulation
  Planning
Symbolic State Space Optimization for Long Horizon Mobile Manipulation PlanningIEEE/RJS International Conference on Intelligent RObots and Systems (IROS), 2023
Xiaohan Zhang
Yifeng Zhu
Yan Ding
Yuqian Jiang
Yuke Zhu
Peter Stone
Shiqi Zhang
267
6
0
21 Jul 2023
Language to Rewards for Robotic Skill Synthesis
Language to Rewards for Robotic Skill SynthesisConference on Robot Learning (CoRL), 2023
Wenhao Yu
Nimrod Gileadi
Chuyuan Fu
Sean Kirmani
Kuang-Huei Lee
...
N. Heess
Dorsa Sadigh
Jie Tan
Yuval Tassa
F. Xia
LM&Ro
346
390
0
14 Jun 2023
M-EMBER: Tackling Long-Horizon Mobile Manipulation via Factorized Domain
  Transfer
M-EMBER: Tackling Long-Horizon Mobile Manipulation via Factorized Domain TransferIEEE International Conference on Robotics and Automation (ICRA), 2023
Bohan Wu
Roberto Martin-Martin
Li Fei-Fei
325
15
0
23 May 2023
Causal Policy Gradient for Whole-Body Mobile Manipulation
Causal Policy Gradient for Whole-Body Mobile Manipulation
Jiaheng Hu
Peter Stone
Roberto Martín-Martín
542
34
0
04 May 2023
ERRA: An Embodied Representation and Reasoning Architecture for
  Long-horizon Language-conditioned Manipulation Tasks
ERRA: An Embodied Representation and Reasoning Architecture for Long-horizon Language-conditioned Manipulation TasksIEEE Robotics and Automation Letters (RA-L), 2023
Chao Zhao
Shuai Yuan
Chunli Jiang
Junhao Cai
Hongyu Yu
M. Y. Wang
Qifeng Chen
LM&Ro
285
17
0
05 Apr 2023
On Designing a Learning Robot: Improving Morphology for Enhanced Task
  Performance and Learning
On Designing a Learning Robot: Improving Morphology for Enhanced Task Performance and LearningIEEE/RJS International Conference on Intelligent RObots and Systems (IROS), 2023
Maks Sorokin
Chuyuan Fu
Jie Tan
Chenxi Liu
Yunfei Bai
Wenlong Lu
Sehoon Ha
Mohi Khansari
143
1
0
23 Mar 2023
Learned Parameter Selection for Robotic Information Gathering
Learned Parameter Selection for Robotic Information GatheringIEEE/RJS International Conference on Intelligent RObots and Systems (IROS), 2023
Chris Denniston
G. Salhotra
Akseli Kangaslahti
D. Caron
Gaurav Sukhatme
279
3
0
09 Mar 2023
Efficient Skill Acquisition for Complex Manipulation Tasks in Obstructed
  Environments
Efficient Skill Acquisition for Complex Manipulation Tasks in Obstructed Environments
Jun Yamada
J. Collins
Ingmar Posner
333
7
0
06 Mar 2023
Leveraging Scene Embeddings for Gradient-Based Motion Planning in Latent
  Space
Leveraging Scene Embeddings for Gradient-Based Motion Planning in Latent SpaceIEEE International Conference on Robotics and Automation (ICRA), 2023
Jun Yamada
Chia-Man Hung
J. Collins
Ioannis Havoutis
Ingmar Posner
160
12
0
06 Mar 2023
Predicting Motion Plans for Articulating Everyday Objects
Predicting Motion Plans for Articulating Everyday ObjectsIEEE International Conference on Robotics and Automation (ICRA), 2023
Arjun Gupta
Max E. Shepherd
Saurabh Gupta
337
9
0
02 Mar 2023
RT-1: Robotics Transformer for Real-World Control at Scale
RT-1: Robotics Transformer for Real-World Control at Scale
Anthony Brohan
Noah Brown
Justice Carbajal
Yevgen Chebotar
Joseph Dabis
...
Ted Xiao
Peng Xu
Sichun Xu
Tianhe Yu
Brianna Zitkovich
LM&Ro
676
2,067
0
13 Dec 2022
Hierarchical Policy Blending As Optimal Transport
Hierarchical Policy Blending As Optimal TransportConference on Learning for Dynamics & Control (L4DC), 2022
An T. Le
Kay Hansel
Jan Peters
Georgia Chalvatzaki
OT
424
11
0
04 Dec 2022
Residual Skill Policies: Learning an Adaptable Skill-based Action Space
  for Reinforcement Learning for Robotics
Residual Skill Policies: Learning an Adaptable Skill-based Action Space for Reinforcement Learning for RoboticsConference on Robot Learning (CoRL), 2022
Krishan Rana
Ming Xu
Brendan Tidd
Michael Milford
Niko Sünderhauf
191
40
0
04 Nov 2022
Long-HOT: A Modular Hierarchical Approach for Long-Horizon Object
  Transport
Long-HOT: A Modular Hierarchical Approach for Long-Horizon Object TransportIEEE International Conference on Robotics and Automation (ICRA), 2022
S. Narayanan
Dinesh Jayaraman
Manmohan Chandraker
269
2
0
28 Oct 2022
Deep Whole-Body Control: Learning a Unified Policy for Manipulation and
  Locomotion
Deep Whole-Body Control: Learning a Unified Policy for Manipulation and LocomotionConference on Robot Learning (CoRL), 2022
Zipeng Fu
Xuxin Cheng
Deepak Pathak
351
248
0
18 Oct 2022
CEIP: Combining Explicit and Implicit Priors for Reinforcement Learning
  with Demonstrations
CEIP: Combining Explicit and Implicit Priors for Reinforcement Learning with DemonstrationsNeural Information Processing Systems (NeurIPS), 2022
Kai Yan
Alex Schwing
Yu-Xiong Wang
OffRL
380
3
0
18 Oct 2022
Generating Executable Action Plans with Environmentally-Aware Language
  Models
Generating Executable Action Plans with Environmentally-Aware Language ModelsIEEE/RJS International Conference on Intelligent RObots and Systems (IROS), 2022
Maitrey Gramopadhye
D. Szafir
LM&RoLLMAG
408
42
0
10 Oct 2022
Learning to Walk by Steering: Perceptive Quadrupedal Locomotion in
  Dynamic Environments
Learning to Walk by Steering: Perceptive Quadrupedal Locomotion in Dynamic EnvironmentsIEEE International Conference on Robotics and Automation (ICRA), 2022
Mingyo Seo
Ryan Gupta
Yifeng Zhu
Alexy Skoutnev
Luis Sentis
Yuke Zhu
350
18
0
19 Sep 2022
Learning Design and Construction with Varying-Sized Materials via
  Prioritized Memory Resets
Learning Design and Construction with Varying-Sized Materials via Prioritized Memory ResetsIEEE International Conference on Robotics and Automation (ICRA), 2022
Yunfei Li
Tao Kong
Lei Li
Yi Wu
294
6
0
12 Apr 2022
Object Manipulation via Visual Target Localization
Object Manipulation via Visual Target LocalizationEuropean Conference on Computer Vision (ECCV), 2022
Kiana Ehsani
Ali Farhadi
Aniruddha Kembhavi
Roozbeh Mottaghi
LM&Ro
243
9
0
15 Mar 2022
Robot Learning of Mobile Manipulation with Reachability Behavior Priors
Robot Learning of Mobile Manipulation with Reachability Behavior PriorsIEEE Robotics and Automation Letters (RA-L), 2022
Snehal Jauhri
Jan Peters
Georgia Chalvatzaki
436
65
0
08 Mar 2022
ASC me to Do Anything: Multi-task Training for Embodied AI
ASC me to Do Anything: Multi-task Training for Embodied AI
Jiasen Lu
Jordi Salvador
Roozbeh Mottaghi
Aniruddha Kembhavi
223
3
0
14 Feb 2022
Practical Imitation Learning in the Real World via Task Consistency Loss
Practical Imitation Learning in the Real World via Task Consistency Loss
Mohi Khansari
Daniel Ho
Yuqing Du
Armando Fuentes
Matthew Bennice
Nicolas Sievers
Sean Kirmani
Yunfei Bai
Eric Jang
SSL
319
8
0
03 Feb 2022
Error-Aware Imitation Learning from Teleoperation Data for Mobile
  Manipulation
Error-Aware Imitation Learning from Teleoperation Data for Mobile Manipulation
J. Wong
Albert Tung
Andrey Kurenkov
Ajay Mandlekar
Li Fei-Fei
Silvio Savarese
Roberto Martín-Martín
283
83
0
09 Dec 2021
Combining optimal control and learning for autonomous aerial navigation
  in novel indoor environments
Combining optimal control and learning for autonomous aerial navigation in novel indoor environments
Kevin Lin
Brian Huo
Megan Hu
198
0
0
07 Dec 2021
Distilling Motion Planner Augmented Policies into Visual Control
  Policies for Robot Manipulation
Distilling Motion Planner Augmented Policies into Visual Control Policies for Robot ManipulationConference on Robot Learning (CoRL), 2021
Isabella Liu
Shagun Uppal
Gaurav Sukhatme
Joseph J. Lim
Péter Englert
Youngwoon Lee
172
13
0
11 Nov 2021
Augmenting Reinforcement Learning with Behavior Primitives for Diverse
  Manipulation Tasks
Augmenting Reinforcement Learning with Behavior Primitives for Diverse Manipulation Tasks
Soroush Nasiriany
Huihan Liu
Yuke Zhu
521
136
0
07 Oct 2021
Waypoint Models for Instruction-guided Navigation in Continuous
  Environments
Waypoint Models for Instruction-guided Navigation in Continuous Environments
Jacob Krantz
Aaron Gokaslan
Dhruv Batra
Stefan Lee
Oleksandr Maksymets
LM&Ro
370
149
0
05 Oct 2021
Mobile Manipulation Leveraging Multiple Views
Mobile Manipulation Leveraging Multiple Views
David Watkins-Valls
Peter K. Allen
H. Maia
Madhavan Seshadri
Jonathan Sanabria
Nicholas R. Waytowich
Jacob Varley
212
8
0
02 Oct 2021
Solving Challenging Control Problems Using Two-Staged Deep Reinforcement
  Learning
Solving Challenging Control Problems Using Two-Staged Deep Reinforcement Learning
Nitish Sontakke
Sehoon Ha
200
1
0
27 Sep 2021
BEHAVIOR: Benchmark for Everyday Household Activities in Virtual,
  Interactive, and Ecological Environments
BEHAVIOR: Benchmark for Everyday Household Activities in Virtual, Interactive, and Ecological EnvironmentsConference on Robot Learning (CoRL), 2021
S. Srivastava
Chengshu Li
Michael Lingelbach
Roberto Martín-Martín
Fei Xia
...
Chenxi Liu
Silvio Savarese
H. Gweon
Jiajun Wu
Li Fei-Fei
LM&Ro
480
222
0
06 Aug 2021
Fully Autonomous Real-World Reinforcement Learning with Applications to
  Mobile Manipulation
Fully Autonomous Real-World Reinforcement Learning with Applications to Mobile ManipulationConference on Robot Learning (CoRL), 2021
Charles Sun
Jkedrzej Orbik
Coline Devin
Brian Yang
Abhishek Gupta
Glen Berseth
Sergey Levine
SSL
322
69
0
28 Jul 2021
Habitat 2.0: Training Home Assistants to Rearrange their Habitat
Habitat 2.0: Training Home Assistants to Rearrange their HabitatNeural Information Processing Systems (NeurIPS), 2021
Andrew Szot
Alexander Clegg
Eric Undersander
Erik Wijmans
Yili Zhao
...
Z. Kira
V. Koltun
Jitendra Malik
Manolis Savva
Dhruv Batra
LM&Ro
542
686
0
28 Jun 2021
Learning a Skill-sequence-dependent Policy for Long-horizon Manipulation
  Tasks
Learning a Skill-sequence-dependent Policy for Long-horizon Manipulation Tasks
Zhihao Li
Zhenglong Sun
Jionglong SU
Jiaming Zhang
175
6
0
12 May 2021
Benchmarking Structured Policies and Policy Optimization for Real-World
  Dexterous Object Manipulation
Benchmarking Structured Policies and Policy Optimization for Real-World Dexterous Object ManipulationIEEE Robotics and Automation Letters (RA-L), 2021
Niklas Funk
Charles B. Schaff
Rishabh Madan
Takuma Yoneda
Julen Urain De Jesus
...
Stefan Bauer
S. Srinivasa
Tapomayukh Bhattacharjee
Matthew R. Walter
Jan Peters
312
39
0
05 May 2021
Pushing it out of the Way: Interactive Visual Navigation
Pushing it out of the Way: Interactive Visual NavigationComputer Vision and Pattern Recognition (CVPR), 2021
Kuo-Hao Zeng
Luca Weihs
Ali Farhadi
Roozbeh Mottaghi
377
35
0
28 Apr 2021
ManipulaTHOR: A Framework for Visual Object Manipulation
ManipulaTHOR: A Framework for Visual Object ManipulationComputer Vision and Pattern Recognition (CVPR), 2021
Kiana Ehsani
Winson Han
Alvaro Herrasti
Eli VanderBilt
Luca Weihs
Eric Kolve
Aniruddha Kembhavi
Roozbeh Mottaghi
LM&Ro
975
157
0
22 Apr 2021
Visual Room Rearrangement
Visual Room RearrangementComputer Vision and Pattern Recognition (CVPR), 2021
Luca Weihs
Matt Deitke
Aniruddha Kembhavi
Roozbeh Mottaghi
LM&Ro
332
152
0
30 Mar 2021
The ThreeDWorld Transport Challenge: A Visually Guided Task-and-Motion
  Planning Benchmark for Physically Realistic Embodied AI
The ThreeDWorld Transport Challenge: A Visually Guided Task-and-Motion Planning Benchmark for Physically Realistic Embodied AIIEEE International Conference on Robotics and Automation (ICRA), 2021
Chuang Gan
Siyuan Zhou
Jeremy Schwartz
S. Alter
Abhishek Bhandwaldar
...
Daniel L. K. Yamins
J. DiCarlo
Josh H. McDermott
Antonio Torralba
J. Tenenbaum
LM&Ro
317
92
0
25 Mar 2021
Self-Imitation Learning by Planning
Self-Imitation Learning by PlanningIEEE International Conference on Robotics and Automation (ICRA), 2021
Junhyuk Oh
Yijie Guo
Satinder Singh
SSL
335
86
0
25 Mar 2021
Articulated Object Interaction in Unknown Scenes with Whole-Body Mobile
  Manipulation
Articulated Object Interaction in Unknown Scenes with Whole-Body Mobile ManipulationIEEE/RJS International Conference on Intelligent RObots and Systems (IROS), 2021
Mayank Mittal
David Hoeller
Farbod Farshidian
Marco Hutter
Animesh Garg
299
105
0
18 Mar 2021
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