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

Conference on Robot Learning (CoRL), 2020

10 September 2020

Yunzhu Li

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

50 / 78 papers shown

Title
Constraint-Preserving Data Generation for Visuomotor Policy Learning Kevin Lin Varun Ragunath Andrew McAlinden Aaditya Prasad Jimmy Wu Yuke Zhu Jeannette Bohg 105 3 0 05 Aug 2025
V-JEPA 2: Self-Supervised Video Models Enable Understanding, Prediction and Planning Mido Assran Adrien Bardes David Fan Q. Garrido Russell Howes ... Sarath Chandar Franziska Meier Yann LeCun Michael G. Rabbat Nicolas Ballas 269 132 0 11 Jun 2025
UAD: Unsupervised Affordance Distillation for Generalization in Robotic ManipulationIEEE International Conference on Robotics and Automation (ICRA), 2025 Yihe Tang Wenlong Huang Yingke Wang Chengshu Li Roy Yuan Ruohan Zhang Jiajun Wu Li Fei-Fei 280 14 0 10 Jun 2025
FUNCTO: Function-Centric One-Shot Imitation Learning for Tool Manipulation Chao Tang Anxing Xiao Yuhong Deng Tianrun Hu Wenlong Dong Hanbo Zhang David Hsu Kuanqi Cai 424 7 0 24 Feb 2025
BaB-ND: Long-Horizon Motion Planning with Branch-and-Bound and Neural DynamicsInternational Conference on Learning Representations (ICLR), 2024 Keyi Shen Jiangwei Yu Huan Zhang Yunzhu Li Yunzhu Li 586 2 0 12 Dec 2024
Dynamic 3D Gaussian Tracking for Graph-Based Neural Dynamics ModelingConference on Robot Learning (CoRL), 2024 Mingtong Zhang Kaifeng Zhang Yunzhu Li 3DGS AI4CE 228 25 0 24 Oct 2024
REPeat: A Real2Sim2Real Approach for Pre-acquisition of Soft Food Items in Robot-assisted FeedingIEEE/RJS International Conference on Intelligent RObots and Systems (IROS), 2024 Nayoung Ha Ruolin Ye Ziang Liu Shubhangi Sinha Tapomayukh Bhattacharjee 199 8 0 13 Oct 2024
DEL: Discrete Element Learner for Learning 3D Particle Dynamics with Neural RenderingNeural Information Processing Systems (NeurIPS), 2024 Jiaxu Wang Jingkai Sun Junhao He Ziyi Zhang Changwei Wang Mingyuan Sun Zhanchen Zhu AI4CE 244 2 0 11 Oct 2024
ReKep: Spatio-Temporal Reasoning of Relational Keypoint Constraints for Robotic ManipulationConference on Robot Learning (CoRL), 2024 Wenlong Huang Chen Wang Yongqian Li Ruohan Zhang Li Fei-Fei 363 250 0 03 Sep 2024
Local All-Pair Correspondence for Point Tracking Seokju Cho Jiahui Huang Jisu Nam Honggyu An Seungryong Kim Joon-Young Lee 270 59 0 22 Jul 2024
RoboPack: Learning Tactile-Informed Dynamics Models for Dense Packing Bo Ai Stephen Tian Haochen Shi Yixuan Wang Cheston Tan Yunzhu Li Jiajun Wu 293 23 0 01 Jul 2024
Cycle-Correspondence Loss: Learning Dense View-Invariant Visual Features from Unlabeled and Unordered RGB Images David B. Adrian A. Kupcsik Markus Spies Heiko Neumann SSL 174 0 0 18 Jun 2024
Query-based Semantic Gaussian Field for Scene Representation in Reinforcement Learning Jiaxu Wang Ziyi Zhang Qiang Zhang Jia Li Jingkai Sun Mingyuan Sun Junhao He Zhanchen Zhu 3DGS 332 6 0 04 Jun 2024
Composable Part-Based ManipulationConference on Robot Learning (CoRL), 2024 Weiyu Liu Jiayuan Mao Joy Hsu Tucker Hermans Animesh Garg Jiajun Wu 238 23 0 09 May 2024
WeightedPose: Generalizable Cross-Pose Estimation via Weighted SVD Xuxin Cheng Heng Yu Harry Zhang Wenxing Deng 244 0 0 03 May 2024
Click to Grasp: Zero-Shot Precise Manipulation via Visual Diffusion Descriptors Nikolaos Tsagkas Jack Rome S. Ramamoorthy Oisin Mac Aodha Chris Xiaoxuan Lu 184 10 0 21 Mar 2024
Reinforcement Learning with Generalizable Gaussian SplattingIEEE/RJS International Conference on Intelligent RObots and Systems (IROS), 2024 Jiaxu Wang Qiang Zhang Jingkai Sun Jiahang Cao Yecheng Shao Renjing Xu 3DGS OffRL 280 11 0 18 Mar 2024
Interactive Perception for Deformable Object ManipulationIEEE Robotics and Automation Letters (RA-L), 2024 Zehang Weng Peng Zhou Hang Yin Alexander Kravberg Anastasiia Varava D. Navarro-Alarcon Danica Kragic 186 8 0 08 Mar 2024
General Flow as Foundation Affordance for Scalable Robot LearningConference on Robot Learning (CoRL), 2024 Chengbo Yuan Chuan Wen Tong Zhang Yang Gao AI4CE 311 68 0 21 Jan 2024
Unsupervised Salient Patch Selection for Data-Efficient Reinforcement Learning Zhaohui Jiang Paul Weng OffRL 175 0 0 10 Jan 2024
Any-point Trajectory Modeling for Policy Learning Chuan Wen Xingyu Lin John So Kai-xiang Chen Qi Dou Yang Gao Pieter Abbeel PINN VGen 517 168 0 28 Dec 2023
Model-Based Control with Sparse Neural Dynamics Ziang Liu Genggeng Zhou Jeff He Tobia Marcucci Fei-Fei Li Jiajun Wu Yunzhu Li AI4CE 256 21 0 20 Dec 2023
SKT-Hang: Hanging Everyday Objects via Object-Agnostic Semantic Keypoint Trajectory GenerationIEEE International Conference on Robotics and Automation (ICRA), 2023 Chia-Liang Kuo Yu-Wei Chao Yi-Ting Chen 228 3 0 08 Dec 2023
Learning Generalizable Manipulation Policies with Object-Centric 3D RepresentationsConference on Robot Learning (CoRL), 2023 Yifeng Zhu Zhenyu Jiang Peter Stone Yuke Zhu 3DPC 218 65 0 22 Oct 2023
Few-Shot In-Context Imitation Learning via Implicit Graph AlignmentConference on Robot Learning (CoRL), 2023 Vitalis Vosylius Edward Johns 210 13 0 18 Oct 2023
Unifying Foundation Models with Quadrotor Control for Visual Tracking Beyond Object CategoriesIEEE International Conference on Robotics and Automation (ICRA), 2023 Alessandro Saviolo P. Rao Vivek Radhakrishnan Jiuhong Xiao Giuseppe Loianno 357 10 0 07 Oct 2023
Doduo: Learning Dense Visual Correspondence from Unsupervised Semantic-Aware FlowIEEE International Conference on Robotics and Automation (ICRA), 2023 Zhenyu Jiang Hanwen Jiang Yuke Zhu VOS 230 8 0 26 Sep 2023
See to Touch: Learning Tactile Dexterity through Visual IncentivesIEEE International Conference on Robotics and Automation (ICRA), 2023 Irmak Güzey Yinlong Dai Ben Evans Soumith Chintala Lerrel Pinto 238 47 0 21 Sep 2023
Learning Sequential Acquisition Policies for Robot-Assisted FeedingConference on Robot Learning (CoRL), 2023 Priya Sundaresan Jiajun Wu Dorsa Sadigh LM&Ro 237 20 0 11 Sep 2023
Sim-to-Real Model-Based and Model-Free Deep Reinforcement Learning for Tactile PushingIEEE Robotics and Automation Letters (RA-L), 2023 Max Yang Yijiong Lin Alex Church John Lloyd Dandan Zhang David A.W. Barton Nathan Lepora OffRL 265 19 0 26 Jul 2023
Dynamic-Resolution Model Learning for Object Pile Manipulation Yixuan Wang Yunzhu Li Katherine Driggs-Campbell Li Fei-Fei Jiajun Wu 227 36 0 29 Jun 2023
Fighting Uncertainty with Gradients: Offline Reinforcement Learning via Diffusion Score MatchingConference on Robot Learning (CoRL), 2023 H.J. Terry Suh Glen Chou Hongkai Dai Lujie Yang Abhishek Gupta Russ Tedrake DiffM OffRL 260 15 0 24 Jun 2023
One-shot Imitation Learning via Interaction WarpingConference on Robot Learning (CoRL), 2023 Ondrej Biza Skye Thompson Kishore Reddy Pagidi Abhinav Kumar Elise van der Pol Robin Walters Thomas Kipf Jan-Willem van de Meent Lawson L. S. Wong Robert Platt 322 21 0 21 Jun 2023
Multi-Object Manipulation via Object-Centric Neural Scattering FunctionsComputer Vision and Pattern Recognition (CVPR), 2023 Stephen Tian Yancheng Cai Hong-Xing Yu Sergey Zakharov Katherine Liu Adrien Gaidon Yunzhu Li Jiajun Wu OCL 205 12 0 14 Jun 2023
TAPIR: Tracking Any Point with per-frame Initialization and temporal RefinementIEEE International Conference on Computer Vision (ICCV), 2023 Carl Doersch Yi Yang Mel Vecerík Dilara Gokay Ankush Gupta Y. Aytar João Carreira Andrew Zisserman 259 246 0 14 Jun 2023
3D-IntPhys: Towards More Generalized 3D-grounded Visual Intuitive Physics under Challenging Scenes Haotian Xue Antonio Torralba J. Tenenbaum Daniel L. K. Yamins Yunzhu Li H. Tung PINN VGen AI4CE 223 13 0 22 Apr 2023
The e-Bike Motor Assembly: Towards Advanced Robotic Manipulation for Flexible Manufacturing Leonel Rozo A. Kupcsik Philipp Schillinger Meng Guo R. Krug ... Patrick Kesper Sabrina Hoppe Hanna Ziesche M. Burger Kai O. Arras 183 10 0 20 Apr 2023
SNeRL: Semantic-aware Neural Radiance Fields for Reinforcement LearningInternational Conference on Machine Learning (ICML), 2023 D. Shim Seungjae Lee H. J. Kim 320 20 0 27 Jan 2023
Where To Start? Transferring Simple Skills to Complex EnvironmentsConference on Robot Learning (CoRL), 2022 Vitalis Vosylius Edward Johns 211 13 0 12 Dec 2022
TAX-Pose: Task-Specific Cross-Pose Estimation for Robot ManipulationConference on Robot Learning (CoRL), 2022 Chuer Pan Brian Okorn Harry Zhang Ben Eisner David Held 407 73 0 17 Nov 2022
TAP-Vid: A Benchmark for Tracking Any Point in a VideoNeural Information Processing Systems (NeurIPS), 2022 Carl Doersch Ankush Gupta L. Markeeva Adrià Recasens Lucas Smaira Y. Aytar João Carreira Andrew Zisserman Yezhou Yang 342 243 0 07 Nov 2022
Learning the Dynamics of Compliant Tool-Environment Interaction for Visuo-Tactile Contact ServoingConference on Robot Learning (CoRL), 2022 Mark Van der Merwe Dmitry Berenson Nima Fazeli 187 15 0 07 Oct 2022
Self-supervised Pre-training for Semantic Segmentation in an Indoor Scene Sulabh Shrestha Yimeng Li Jana Kosecka 3DPC SSL SSeg 237 3 0 04 Oct 2022
USEEK: Unsupervised SE(3)-Equivariant 3D Keypoints for Generalizable ManipulationIEEE International Conference on Robotics and Automation (ICRA), 2022 Zhengrong Xue Zhecheng Yuan Jiashun Wang Xueqian Wang Yang Gao Huazhe Xu 3DPC 339 29 0 28 Sep 2022
Learning Dense Visual Descriptors using Image Augmentations for Robot Manipulation TasksConference on Robot Learning (CoRL), 2022 Christian Graf David B. Adrian Joshua Weil Miroslav Gabriel Philipp Schillinger Markus Spies Heiko Neumann A. Kupcsik SSL 123 10 0 12 Sep 2022
K-VIL: Keypoints-based Visual Imitation LearningIEEE Transactions on robotics (TRO), 2022 Jianfeng Gao Z. Tao Noémie Jaquier Tamim Asfour VGen SSL 334 38 0 07 Sep 2022
Graph Inverse Reinforcement Learning from Diverse VideosConference on Robot Learning (CoRL), 2022 Sateesh Kumar Jonathan Zamora Nicklas Hansen Rishabh Jangir Xiaolong Wang 205 59 0 28 Jul 2022
Masked World Models for Visual ControlConference on Robot Learning (CoRL), 2022 Younggyo Seo Danijar Hafner Hao Liu Fangchen Liu Stephen James Kimin Lee Pieter Abbeel OffRL 381 181 0 28 Jun 2022
Efficient and Robust Training of Dense Object Nets for Multi-Object Robot ManipulationIEEE International Conference on Robotics and Automation (ICRA), 2022 David B. Adrian A. Kupcsik Markus Spies Heiko Neumann 3DPC 199 7 0 24 Jun 2022
Reinforcement Learning with Neural Radiance FieldsNeural Information Processing Systems (NeurIPS), 2022 Danny Driess Ingmar Schubert Peter R. Florence Yunzhu Li Marc Toussaint AI4CE 217 62 0 03 Jun 2022