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You Only Demonstrate Once: Category-Level Manipulation from Single Visual Demonstration

30 January 2022

Kostas Bekris

Papers citing "You Only Demonstrate Once: Category-Level Manipulation from Single Visual Demonstration"

50 / 82 papers shown

Title
HRT1: One-Shot Human-to-Robot Trajectory Transfer for Mobile Manipulation Sai Haneesh Allu Jishnu Jaykumar P Ninad Khargonkar Tyler Summers Jian Yao Yu Xiang 28 0 0 23 Oct 2025
DeGrip: A Compact Cable-driven Robotic Gripper for Desktop Disassembly Bihao Zhang Davood Soleymanzadeh Xiao Liang Minghui Zheng 52 0 0 17 Oct 2025
Refinery: Active Fine-tuning and Deployment-time Optimization for Contact-Rich Policies Bingjie Tang Iretiayo Akinola Jie Xu Bowen Wen Dieter Fox Gaurav Sukhatme Fabio Ramos Abhishek Gupta Yashraj S. Narang OffRL 12 0 0 13 Oct 2025
MonoSE(3)-Diffusion: A Monocular SE(3) Diffusion Framework for Robust Camera-to-Robot Pose EstimationIEEE Robotics and Automation Letters (IEEE RA-L), 2025 Kangjian Zhu Haobo Jiang Yigong Zhang J. Qian Jian Yang J. Xie DiffM 28 0 0 12 Oct 2025
DeLTa: Demonstration and Language-Guided Novel Transparent Object Manipulation Taeyeop Lee Gyuree Kang Bowen Wen Y. Kim S. Back In So Kweon David Hyunchul Shim KuK-Jin Yoon 40 0 0 07 Oct 2025
VLBiMan: Vision-Language Anchored One-Shot Demonstration Enables Generalizable Bimanual Robotic Manipulation Huayi Zhou Kui Jia LM&Ro 78 0 0 26 Sep 2025
Parse-Augment-Distill: Learning Generalizable Bimanual Visuomotor Policies from Single Human Video Georgios Tziafas Jiayun Zhang Hamidreza Kasaei 52 0 0 24 Sep 2025
Look as You Leap: Planning Simultaneous Motion and Perception for High-DOF Robots Qingxi Meng Emiliano Flores Carlos Quintero-Peña Peizhu Qian Zachary Kingston Shannan K. Hamlin Vaibhav Unhelkar Lydia E. Kavraki 52 0 0 23 Sep 2025
Learning in ImaginationLand: Omnidirectional Policies through 3D Generative Models (OP-Gen) Yifei Ren Edward Johns LM&Ro 76 0 0 07 Sep 2025
Unified Category-Level Object Detection and Pose Estimation from RGB Images using 3D Prototypes Tom Fischer Xiaojie Zhang Eddy Ilg 74 0 0 04 Aug 2025
CodeDiffuser: Attention-Enhanced Diffusion Policy via VLM-Generated Code for Instruction Ambiguity Guang Yin Yitong Li Yixuan Wang D. Mcconachie Paarth Shah Kunimatsu Hashimoto Huan Zhang Katherine Liu Yunzhu Li LM&Ro 92 4 0 19 Jun 2025
AntiGrounding: Lifting Robotic Actions into VLM Representation Space for Decision Making Wenbo Li Shiyi Wang Yiteng Chen Huiping Zhuang Qingyao Wu 187 0 0 14 Jun 2025
Robotic System for Chemical Experiment Automation with Dual Demonstration of End-effector and Jig OperationsInternational Journal of Intelligent Robotics and Applications (IJIRA), 2025 Hikaru Sasaki N. Komeno Takumi Hachimine Kei Takahashi Yu-ya Ohnishi ... Miho Hatanaka Tomoyuki Miyao Hiroharu Ajiro Mikiya Fujii Takamitsu Matsubara 86 0 0 13 Jun 2025
UA-Pose: Uncertainty-Aware 6D Object Pose Estimation and Online Object Completion with Partial ReferencesComputer Vision and Pattern Recognition (CVPR), 2025 Ming-feng Li Xin Yang Fu-En Wang Hritam Basak Yuyin Sun Shreekant Gayaka Min Sun Cheng-Hao Kuo 64 0 0 09 Jun 2025
EasyInsert: A Data-Efficient and Generalizable Insertion Policy Guanghe Li Junming Zhao Shengjie Wang Yang Gao 221 0 0 22 May 2025
Integrating Model-based Control and RL for Sim2Real Transfer of Tight Insertion PoliciesIEEE International Conference on Robotics and Automation (ICRA), 2025 Isidoros Marougkas Dhruv Metha Ramesh Joe H. Doerr Edgar Granados Aravind Sivaramakrishnan Abdeslam Boularias Kostas E. Bekris OffRL 125 2 0 17 May 2025
Chain-of-Modality: Learning Manipulation Programs from Multimodal Human Videos with Vision-Language-ModelsIEEE International Conference on Robotics and Automation (ICRA), 2025 Chen Wang Fei Xia Wenhao Yu Tingnan Zhang Ruohan Zhang Ce Liu Li Fei-Fei Jie Tan Jacky Liang 155 6 0 17 Apr 2025
Tool-as-Interface: Learning Robot Policies from Observing Human Tool Use Haonan Chen Cheng Zhu Shuijing Liu Yunzhu Li Katherine Driggs-Campbell 145 2 0 06 Apr 2025
Any6D: Model-free 6D Pose Estimation of Novel ObjectsComputer Vision and Pattern Recognition (CVPR), 2025 Taeyeop Lee Bowen Wen Minjun Kang Gyuree Kang In So Kweon KuK-Jin Yoon 182 10 0 24 Mar 2025
Structure-Aware Correspondence Learning for Relative Pose EstimationComputer Vision and Pattern Recognition (CVPR), 2025 Yihan Chen Wenfei Yang Huan Ren Shifeng Zhang Tianzhu Zhang Feng Wu 3DPC 191 0 0 24 Mar 2025
GIVEPose: Gradual Intra-class Variation Elimination for RGB-based Category-Level Object Pose EstimationComputer Vision and Pattern Recognition (CVPR), 2025 Zinqin Huang Gu Wang Chenyangguang Zhang Ruida Zhang Xiu Li Xiangyang Ji 195 3 0 19 Mar 2025
Learning Shape-Independent Transformation via Spherical Representations for Category-Level Object Pose EstimationInternational Conference on Learning Representations (ICLR), 2025 Huan Ren Wenfei Yang Xiang Liu Shifeng Zhang Tianzhu Zhang 264 3 0 18 Mar 2025
Transferring Kinesthetic Demonstrations across Diverse Objects for Manipulation Planning Dibyendu Das Aditya Patankar Nilanjan Chakraborty C. Ramakrishnan I. Ramakrishnan 131 0 0 13 Mar 2025
SRSA: Skill Retrieval and Adaptation for Robotic Assembly TasksInternational Conference on Learning Representations (ICLR), 2025 Yijie Guo Bingjie Tang Iretiayo Akinola Dieter Fox Abhishek Gupta Yashraj S. Narang 153 10 0 06 Mar 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 308 7 0 24 Feb 2025
DemoGen: Synthetic Demonstration Generation for Data-Efficient Visuomotor Policy Learning Zhengrong Xue Shuying Deng Zhenyang Chen Yixuan Wang Zhecheng Yuan Huazhe Xu 182 37 0 24 Feb 2025
ArrayBot: Reinforcement Learning for Generalizable Distributed Manipulation through TouchIEEE International Conference on Robotics and Automation (ICRA), 2023 Zhengrong Xue H. Zhang Jin Cheng Zhengmao He Yuanchen Ju Chan-Yu Lin Gu Zhang Huazhe Xu OffRL 273 16 0 20 Feb 2025
L4P: Towards Unified Low-Level 4D Vision Perception Abhishek Badki Hang Su Bowen Wen Orazio Gallo VLM 325 4 0 18 Feb 2025
A Real-to-Sim-to-Real Approach to Robotic Manipulation with VLM-Generated Iterative Keypoint RewardsIEEE International Conference on Robotics and Automation (ICRA), 2025 Shivansh Patel Xinchen Yin Wenlong Huang Shubham Garg H. Nayyeri Li Fei-Fei Svetlana Lazebnik Yongqian Li 273 1 0 12 Feb 2025
OmniManip: Towards General Robotic Manipulation via Object-Centric Interaction Primitives as Spatial ConstraintsComputer Vision and Pattern Recognition (CVPR), 2025 Mingjie Pan Jiyao Zhang Tianshu Wu Yinghao Zhao Wenlong Gao Hao Dong LM&Ro 181 37 0 08 Jan 2025
Learning Generalizable 3D Manipulation With 10 Demonstrations Yu Ren Yang Cong Ronghan Chen Jiahao Long SSL 158 1 0 15 Nov 2024
SPOT: SE(3) Pose Trajectory Diffusion for Object-Centric ManipulationIEEE International Conference on Robotics and Automation (ICRA), 2024 Cheng-Chun Hsu Bowen Wen Jie Xu Yashraj S. Narang Xiaolong Wang Yuke Zhu Joydeep Biswas Stan Birchfield DiffM 291 19 0 01 Nov 2024
Synthetica: Large Scale Synthetic Data for Robot Perception Ritvik Singh Jingzhou Liu Karl Van Wyk Yu-Wei Chao Jean-Francois Lafleche Florian Shkurti Nathan D. Ratliff Ankur Handa 174 2 0 28 Oct 2024
MILES: Making Imitation Learning Easy with Self-SupervisionConference on Robot Learning (CoRL), 2024 Georgios Papagiannis Edward Johns VLM SSL 194 10 0 25 Oct 2024
SkillMimicGen: Automated Demonstration Generation for Efficient Skill Learning and DeploymentConference on Robot Learning (CoRL), 2024 Caelan Reed Garrett Ajay Mandlekar Bowen Wen Dieter Fox 194 33 0 24 Oct 2024
One-shot Video Imitation via Parameterized Symbolic Abstraction GraphsIEEE International Conference on Robotics and Automation (ICRA), 2024 Jianren Wang Kangni Liu Dingkun Guo Xian Zhou Christopher G Atkeson 251 1 0 22 Aug 2024
FORGE: Force-Guided Exploration for Robust Contact-Rich Manipulation under UncertaintyIEEE Robotics and Automation Letters (RA-L), 2024 Michael Noseworthy Bingjie Tang Bowen Wen Ankur Handa Nicholas Roy Nicholas Roy Dieter Fox Yashraj S. Narang Iretiayo Akinola Iretiayo Akinola 179 20 0 08 Aug 2024
Adapting Skills to Novel Grasps: A Self-Supervised ApproachIEEE/RJS International Conference on Intelligent RObots and Systems (IROS), 2024 Georgios Papagiannis Kamil Dreczkowski Vitalis Vosylius Arno Solin SSL 183 2 0 31 Jul 2024
AutoMate: Specialist and Generalist Assembly Policies over Diverse Geometries Bingjie Tang Iretiayo Akinola Jie Xu Bowen Wen Ankur Handa Karl Van Wyk Dieter Fox Gaurav Sukhatme Fabio Ramos Yashraj S. Narang 326 26 0 10 Jul 2024
Vision-based Manipulation from Single Human Video with Open-World Object Graphs Yifeng Zhu Arisrei Lim Peter Stone Yuke Zhu 252 46 0 30 May 2024
IntervenGen: Interventional Data Generation for Robust and Data-Efficient Robot Imitation LearningIEEE/RJS International Conference on Intelligent RObots and Systems (IROS), 2024 Ryan Hoque Ajay Mandlekar Caelan Reed Garrett Ken Goldberg Dieter Fox 178 24 0 02 May 2024
VIEW: Visual Imitation Learning with Waypoints Ananth Jonnavittula Sagar Parekh Dylan P. Losey SSL 320 16 0 27 Apr 2024
GeoReF: Geometric Alignment Across Shape Variation for Category-level Object Pose Refinement Linfang Zheng Tze Ho Elden Tse Chen Wang Yinghan Sun Hua Chen A. Leonardis Wei Zhang 140 8 0 17 Apr 2024
One-Shot Transfer of Long-Horizon Extrinsic Manipulation Through Contact Retargeting Albert Wu Ruocheng Wang Sirui Chen Clemens Eppner Chenxi Liu 167 8 0 11 Apr 2024
ToolEENet: Tool Affordance 6D Pose Estimation Yunlong Wang Lei Zhang Yuyang Tu Hui Zhang Kaixin Bai Zhaopeng Chen Jianwei Zhang 130 4 0 05 Apr 2024
Self-supervised 6-DoF Robot Grasping by Demonstration via Augmented Reality Teleoperation SystemIEEE International Conference on Robotics and Automation (ICRA), 2024 Xiwen Dengxiong Xueting Wang Shi Bai Yunbo Zhang 138 6 0 03 Apr 2024
Instance-Adaptive and Geometric-Aware Keypoint Learning for Category-Level 6D Object Pose Estimation Xiao Lin Wenfei Yang Yuan Gao Tianzhu Zhang 3DPC 158 25 0 28 Mar 2024
DITTO: Demonstration Imitation by Trajectory TransformationIEEE/RJS International Conference on Intelligent RObots and Systems (IROS), 2024 Nick Heppert Max Argus Tim Welschehold Thomas Brox Abhinav Valada 254 27 0 22 Mar 2024
Fast Ergodic Search with Kernel Functions Muchen Sun Ayush Gaggar Peter Trautman Todd Murphey 216 10 0 03 Mar 2024
Fourier Transporter: Bi-Equivariant Robotic Manipulation in 3DInternational Conference on Learning Representations (ICLR), 2024 Hao-zhe Huang Owen Howell Dian Wang Xu Zhu Robin Walters Robert Platt 230 34 0 22 Jan 2024