SoftGym: Benchmarking Deep Reinforcement Learning for Deformable Object Manipulation

14 November 2020

Yufei Wang

Papers citing "SoftGym: Benchmarking Deep Reinforcement Learning for Deformable Object Manipulation"

47 / 47 papers shown

Title
Automated Action Generation based on Action Field for Robotic Garment Manipulation Hu Cheng Fuyuki Tokuda Kazuhiro Kosuge 51 0 0 06 May 2025
A Survey of Robotic Navigation and Manipulation with Physics Simulators in the Era of Embodied AI Lik Hang Kenny Wong Xueyang Kang Kaixin Bai Jianwei Zhang 56 0 0 01 May 2025
GenDOM: Generalizable One-shot Deformable Object Manipulation with Parameter-Aware Policy So Kuroki Jiaxian Guo T. Matsushima Takuya Okubo Masato Kobayashi Yuya Ikeda Ryosuke Takanami Paul D. Yoo Yutaka Matsuo Yusuke Iwasawa AI4CE 40 1 0 28 Jan 2025
Stabilizing Reinforcement Learning in Differentiable Multiphysics Simulation Eliot Xing Vernon Luk Jean Oh 84 0 0 16 Dec 2024
Learning the Generalizable Manipulation Skills on Soft-body Tasks via Guided Self-attention Behavior Cloning Policy XueTao Li Fang Gao Jun Yu Shaodong Li Feng Shuang LM&Ro 23 0 0 08 Oct 2024
General-purpose Clothes Manipulation with Semantic Keypoints Yuhong Deng David Hsu 62 2 0 15 Aug 2024
BiGym: A Demo-Driven Mobile Bi-Manual Manipulation Benchmark Nikita Chernyadev Nicholas Backshall Xiao Ma Yunfan Lu Younggyo Seo Stephen James 22 11 0 10 Jul 2024
Unfolding the Literature: A Review of Robotic Cloth Manipulation A. Longhini Yufei Wang Irene Garcia-Camacho David Blanco-Mulero Marco Moletta ... Hang Yin Zackory M. Erickson David Held J´ulia Borras Danica Kragic AI4CE 36 11 0 01 Jul 2024
POE: Acoustic Soft Robotic Proprioception for Omnidirectional End-effectors Uksang Yoo Ziven Lopez Jeffrey Ichnowski Jean Oh 30 5 0 17 Jan 2024
Robotic Control of the Deformation of Soft Linear Objects Using Deep Reinforcement Learning Mélodie Hani Daniel Zakaria Miguel Aranda Laurent Lequievre S. Lengagne J. Corrales Y. Mezouar AI4CE 13 6 0 08 Dec 2023
SoftMAC: Differentiable Soft Body Simulation with Forecast-based Contact Model and Two-way Coupling with Articulated Rigid Bodies and Clothes Min Liu Gang Yang Siyuan Luo Lin Shao 27 3 0 06 Dec 2023
Industrial Internet of Things Intelligence Empowering Smart Manufacturing: A Literature Review Member Ieee Yujiao Hu Qingmin Jia Yuao Yao Yong Lee Mengjie Lee Chenyi Wang Xiaomao Zhou Senior Member Ieee Renchao Xie F. I. F. Richard Yu 23 29 0 02 Dec 2023
Learning visual-based deformable object rearrangement with local graph neural networks Yuhong Deng Xueqian Wang Lipeng Chen 21 5 0 16 Oct 2023
Learning to Shape by Grinding: Cutting-surface-aware Model-based Reinforcement Learning Takumi Hachimine Jun Morimoto Takamitsu Matsubara 11 5 0 04 Aug 2023
Autonomous Navigation for Robot-assisted Intraluminal and Endovascular Procedures: A Systematic Review Ameya Pore Zhen Li Diego DallÁlba A. Hernansanz Elena De Momi A. Menciassi Alicia Casals Gelpí J. Dankelman Paolo Fiorini E. V. Poorten 21 29 0 06 May 2023
SPONGE: Sequence Planning with Deformable-ON-Rigid Contact Prediction from Geometric Features Tran Minh Son Le Fares J. Abu-Dakka Ville Kyrki 33 1 0 24 Mar 2023
QDP: Learning to Sequentially Optimise Quasi-Static and Dynamic Manipulation Primitives for Robotic Cloth Manipulation David Blanco Mulero G. Alcan Fares J. Abu-Dakka Ville Kyrki 35 9 0 23 Mar 2023
DeFNet: Deconstructed Strategy for Multi-step Fabric Folding Tasks Ningquan Gu R. He Lianqing Yu 27 1 0 01 Mar 2023
Self-supervised Cloth Reconstruction via Action-conditioned Cloth Tracking Zixuan Huang Xingyu Lin David Held 28 13 0 19 Feb 2023
ManiSkill2: A Unified Benchmark for Generalizable Manipulation Skills Jiayuan Gu Fanbo Xiang Xuanlin Li Z. Ling Xiqiang Liu ... Xiao Yuan P. Xie Zhiao Huang Rui Chen Hao Su 30 174 0 09 Feb 2023
Orbit: A Unified Simulation Framework for Interactive Robot Learning Environments Mayank Mittal C. Yu Qinxi Yu Jingzhou Liu N. Rudin ... Ajay Mandlekar Buck Babich Gavriel State Marco Hutter Animesh Garg 34 170 0 10 Jan 2023
Foldsformer: Learning Sequential Multi-Step Cloth Manipulation With Space-Time Attention Kai Mo Chongkun Xia Xueqian Wang Yuhong Deng Xuehai Gao Bin Liang 24 18 0 08 Jan 2023
Learning Neural Force Manifolds for Sim2Real Robotic Symmetrical Paper Folding Andrew Choi Dezhong Tong Demetri Terzopoulos Jungseock Joo M. Jawed AI4CE 26 8 0 05 Jan 2023
OpenD: A Benchmark for Language-Driven Door and Drawer Opening Yizhou Zhao Qiaozi Gao Liang Qiu Govind Thattai Gaurav Sukhatme 16 5 0 10 Dec 2022
Learning Visuo-Haptic Skewering Strategies for Robot-Assisted Feeding Priya Sundaresan Suneel Belkhale Dorsa Sadigh 36 33 0 26 Nov 2022
Sample Efficient Robot Learning with Structured World Models T. Akbulut Max Merlin Shane Parr Benedict Quartey Skye Thompson 18 0 0 21 Oct 2022
Learning to Singulate Layers of Cloth using Tactile Feedback Sashank Tirumala Thomas Weng Daniel Seita Oliver Kroemer Zeynep Temel David Held 19 21 0 22 Jul 2022
Learning Deformable Object Manipulation from Expert Demonstrations G. Salhotra Isabella Liu Marcus Dominguez-Kuhne Gaurav Sukhatme 23 27 0 20 Jul 2022
Learning Switching Criteria for Sim2Real Transfer of Robotic Fabric Manipulation Policies Satvik Sharma Ellen R. Novoseller Vainavi Viswanath Zaynah Javed R. Parikh Ryan Hoque Ashwin Balakrishna Daniel S. Brown Ken Goldberg 19 8 0 02 Jul 2022
HandoverSim: A Simulation Framework and Benchmark for Human-to-Robot Object Handovers Yu-Wei Chao Chris Paxton Yu Xiang Wei Yang Balakumar Sundaralingam Tao Chen Adithyavairavan Murali Maya Cakmak D. Fox 62 17 0 19 May 2022
Contact Points Discovery for Soft-Body Manipulations with Differentiable Physics Sizhe Li Zhiao Huang Tao Du Hao Su J. Tenenbaum Chuang Gan 17 26 0 05 May 2022
Visual-Tactile Multimodality for Following Deformable Linear Objects Using Reinforcement Learning Leszek Pecyna Siyuan Dong Shan Luo 11 21 0 31 Mar 2022
DiffSkill: Skill Abstraction from Differentiable Physics for Deformable Object Manipulations with Tools Xingyu Lin Zhiao Huang Yunzhu Li J. Tenenbaum David Held Chuang Gan 24 72 0 31 Mar 2022
ACID: Action-Conditional Implicit Visual Dynamics for Deformable Object Manipulation Bokui Shen Zhenyu Jiang Chris Choy Leonidas J. Guibas Silvio Savarese Anima Anandkumar Yuke Zhu AI4CE 14 41 0 14 Mar 2022
Self-supervised Transparent Liquid Segmentation for Robotic Pouring G. Narasimhan Kai Zhang Ben Eisner Xingyu Lin David Held 17 16 0 03 Mar 2022
DextAIRity: Deformable Manipulation Can be a Breeze Zhenjia Xu Cheng Chi Benjamin Burchfiel Eric A. Cousineau S. Feng Shuran Song AI4CE 33 49 0 02 Mar 2022
Differentiable Robotic Manipulation of Deformable Rope-like Objects Using Compliant Position-based Dynamics Fei Liu Entong Su Jingpei Lu Ming Li Michael C. Yip AI4CE 18 8 0 20 Feb 2022
BEHAVIOR: Benchmark for Everyday Household Activities in Virtual, Interactive, and Ecological Environments S. Srivastava Chengshu Li Michael Lingelbach Roberto Martín-Martín Fei Xia ... C. Karen Liu Silvio Savarese H. Gweon Jiajun Wu Li Fei-Fei LM&Ro 151 157 0 06 Aug 2021
iGibson 2.0: Object-Centric Simulation for Robot Learning of Everyday Household Tasks Chengshu Li Fei Xia Roberto Martín-Martín Michael Lingelbach S. Srivastava ... Karen Liu H. Gweon Jiajun Wu Li Fei-Fei Silvio Savarese LM&Ro 156 222 0 06 Aug 2021
Deformable Elasto-Plastic Object Shaping using an Elastic Hand and Model-Based Reinforcement Learning Carolyn Matl R. Bajcsy 17 21 0 14 Jul 2021
Untangling Dense Non-Planar Knots by Learning Manipulation Features and Recovery Policies Priya Sundaresan J. Grannen Brijen Thananjeyan Ashwin Balakrishna Jeffrey Ichnowski Ellen R. Novoseller M. Hwang Michael Laskey Joseph E. Gonzalez Ken Goldberg 11 25 0 29 Jun 2021
Challenges and Outlook in Robotic Manipulation of Deformable Objects Jihong Zhu A. Cherubini C. Dune D. Navarro-Alarcon Farshid Alambeigi ... Jens Kober Xiang-Yang Li Jia Pan Wenzhen Yuan Michael Gienger AI4CE 27 201 0 04 May 2021
Learning Latent Graph Dynamics for Visual Manipulation of Deformable Objects Xiao Ma David Hsu W. Lee AI4CE 30 28 0 25 Apr 2021
Graph-based Task-specific Prediction Models for Interactions between Deformable and Rigid Objects Zehang Weng Fabian Paus Anastasiia Varava Hang Yin Tamim Asfour Danica Kragic AI4CE 16 18 0 04 Mar 2021
Enabling Visual Action Planning for Object Manipulation through Latent Space Roadmap M. Lippi Petra Poklukar Michael C. Welle Anastasia Varava Hang Yin Alessandro Marino Danica Kragic 21 13 0 03 Mar 2021
Robots of the Lost Arc: Self-Supervised Learning to Dynamically Manipulate Fixed-Endpoint Cables Harry Zhang Jeffrey Ichnowski Daniel Seita Jonathan Wang Huang Huang Ken Goldberg 21 42 0 10 Nov 2020
SAPIEN: A SimulAted Part-based Interactive ENvironment Fanbo Xiang Yuzhe Qin Kaichun Mo Yikuan Xia Hao Zhu ... He-Nan Wang Li Yi Angel X. Chang Leonidas J. Guibas Hao Su 218 485 0 19 Mar 2020