Title
Haptic-based Complementary Filter for Rigid Body Rotations Amit Kumar Domenico Campolo Ravi N. Banavar 17 0 0 20 Apr 2025
Two by Two: Learning Multi-Task Pairwise Objects Assembly for Generalizable Robot Manipulation Yu Qi Yuanchen Ju Tianming Wei Chi Chu Lawson L. S. Wong Huazhe Xu 19 1 0 09 Apr 2025
MatchMaker: Automated Asset Generation for Robotic Assembly Yian Wang Bingjie Tang Chuang Gan Dieter Fox Kaichun Mo Yashraj S. Narang Iretiayo Akinola 41 0 0 07 Mar 2025
SRSA: Skill Retrieval and Adaptation for Robotic Assembly Tasks Yijie Guo Bingjie Tang Iretiayo Akinola Dieter Fox Abhishek Gupta Yashraj S. Narang 39 0 0 06 Mar 2025
On the role of Artificial Intelligence methods in modern force-controlled manufacturing robotic tasks Vincenzo Petrone Enrico Ferrentino Pasquale Chiacchio 29 0 0 10 Jan 2025
Local Policies Enable Zero-shot Long-horizon Manipulation Murtaza Dalal Min Liu Walter Talbott Chen Chen Deepak Pathak Jian Zhang Ruslan Salakhutdinov 23 3 0 29 Oct 2024
SERN: Simulation-Enhanced Realistic Navigation for Multi-Agent Robotic Systems in Contested Environments Jumman Hossain Emon Dey Snehalraj Chugh Masud Ahmed MS Anwar ... Adrienne Raglin Carl E. Busart T. Gregory Anuradha Ravi Nirmalya Roy 13 0 0 22 Oct 2024
Context-Based Meta Reinforcement Learning for Robust and Adaptable Peg-in-Hole Assembly Tasks Ahmed Shokry Walid Gomaa Tobias Zaenker Murad Dawood Shady A. Maged Mohammed I. Awad Maren Bennewitz Maren Bennewitz OffRL 25 0 0 24 Sep 2024
TacSL: A Library for Visuotactile Sensor Simulation and Learning Iretiayo Akinola Jie Xu Jan Carius Dieter Fox Yashraj S. Narang 21 6 0 12 Aug 2024
FORGE: Force-Guided Exploration for Robust Contact-Rich Manipulation under Uncertainty Michael Noseworthy Bingjie Tang Bowen Wen Ankur Handa Nicholas Roy Nicholas Roy Dieter Fox Yashraj S. Narang Iretiayo Akinola Iretiayo Akinola 36 8 0 08 Aug 2024
From Imitation to Refinement -- Residual RL for Precise Visual Assembly Lars Ankile Anthony Simeonov Idan Shenfeld M. Torné Pulkit Agrawal OffRL 31 6 0 23 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 16 3 0 10 Jul 2024
URDFormer: A Pipeline for Constructing Articulated Simulation Environments from Real-World Images Zoey Chen Aaron Walsman Marius Memmel Kaichun Mo Alex Fang Karthikeya Vemuri Alan Wu Dieter Fox Abhishek Gupta AI4CE VGen 53 3 0 19 May 2024
TRANSIC: Sim-to-Real Policy Transfer by Learning from Online Correction Yunfan Jiang Chen Wang Ruohan Zhang Jiajun Wu Fei-Fei Li OnRL 14 20 0 16 May 2024
ORBIT-Surgical: An Open-Simulation Framework for Learning Surgical Augmented Dexterity Qinxi Yu Masoud Moghani K. Dharmarajan Vincent Schorp Will Panitch ... Kush Hari Huang Huang Mayank Mittal Ken Goldberg Animesh Garg 25 14 0 24 Apr 2024
GenCHiP: Generating Robot Policy Code for High-Precision and Contact-Rich Manipulation Tasks Kaylee Burns Ajinkya Jain Keegan Go Fei Xia Michael Stark S. Schaal Karol Hausman 16 3 0 09 Apr 2024
JUICER: Data-Efficient Imitation Learning for Robotic Assembly Lars Ankile Anthony Simeonov Idan Shenfeld Pulkit Agrawal LM&Ro 14 3 0 04 Apr 2024
Scaling Population-Based Reinforcement Learning with GPU Accelerated Simulation Asad Ali Shahid Yashraj S. Narang Vincenzo Petrone Enrico Ferrentino Ankur Handa Dieter Fox Marco Pavone L. Roveda 27 1 0 04 Apr 2024
HumanoidBench: Simulated Humanoid Benchmark for Whole-Body Locomotion and Manipulation Carmelo Sferrazza Dun-Ming Huang Xingyu Lin Youngwoon Lee Pieter Abbeel 29 6 0 15 Mar 2024
Dexterous Legged Locomotion in Confined 3D Spaces with Reinforcement Learning Zifan Xu Amir Hossain Raj Xuesu Xiao Peter Stone 21 3 0 06 Mar 2024
Twisting Lids Off with Two Hands Toru Lin Zhao-Heng Yin Haozhi Qi Pieter Abbeel Jitendra Malik 30 22 0 04 Mar 2024
Auxiliary Reward Generation with Transition Distance Representation Learning Siyuan Li Shijie Han Yingnan Zhao B. Liang Peng Liu OffRL 30 2 0 12 Feb 2024
Open-Source Reinforcement Learning Environments Implemented in MuJoCo with Franka Manipulator Zichun Xu Yuntao Li Xiaohang Yang Zhiyuan Zhao Zhuang Lei Jingdong Zhao 20 2 0 21 Dec 2023
Multi-level Reasoning for Robotic Assembly: From Sequence Inference to Contact Selection Xinghao Zhu Devesh K. Jha Diego Romeres Lingfeng Sun Masayoshi Tomizuka Anoop Cherian 14 2 0 17 Dec 2023
Transfer Learning in Robotics: An Upcoming Breakthrough? A Review of Promises and Challenges Noémie Jaquier Michael C. Welle A. Gams Kunpeng Yao Bernardo Fichera A. Billard Aleš Ude Tamim Asfour Danica Kragic 12 14 0 29 Nov 2023
Bridging the Sim-to-Real Gap with Dynamic Compliance Tuning for Industrial Insertion Xiang Zhang Masayoshi Tomizuka Hui Li 24 3 0 13 Nov 2023
MimicGen: A Data Generation System for Scalable Robot Learning using Human Demonstrations Ajay Mandlekar Soroush Nasiriany Bowen Wen Iretiayo Akinola Yashraj S. Narang Linxi Fan Yuke Zhu Dieter Fox LM&Ro 56 32 0 26 Oct 2023
MimicTouch: Leveraging Multi-modal Human Tactile Demonstrations for Contact-rich Manipulation Kelin Yu Yunhai Han Matthew Zhu Vaibhav Saxena Danfei Xu Ye Zhao 8 10 0 25 Oct 2023
Efficient Sim-to-real Transfer of Contact-Rich Manipulation Skills with Online Admittance Residual Learning Xiang Zhang Changhao Wang Lingfeng Sun Zheng Wu Xinghao Zhu Masayoshi Tomizuka OffRL 17 10 0 16 Oct 2023
The Impact of Time Step Frequency on the Realism of Robotic Manipulation Simulation for Objects of Different Scales Minh Q. Ta H. Dinkel H. Abdul-Rashid Yangfei Dai Jessica Myers Tan Chen Junyi Geng Timothy Bretl 14 0 0 12 Oct 2023
EARL: Eye-on-Hand Reinforcement Learner for Dynamic Grasping with Active Pose Estimation Baichuan Huang Jingjin Yu Siddarth Jain 12 4 0 10 Oct 2023
ASAP: Automated Sequence Planning for Complex Robotic Assembly with Physical Feasibility Yong Zhao Karl D. D. Willis Bassel Al Omari Jieliang Luo Pingchuan Ma ... Joshua Jacob Shinjiro Sueda Hui Li Sachin Chitta Wojciech Matusik 17 5 0 29 Sep 2023
Perceiving Extrinsic Contacts from Touch Improves Learning Insertion Policies Carolina Higuera Joseph Ortiz Haozhi Qi Luis Villaseñor-Pineda Byron Boots Mustafa Mukadam 26 1 0 28 Sep 2023
Motion Priority Optimization Framework towards Automated and Teleoperated Robot Cooperation in Industrial Recovery Scenarios Shunki Itadera Y. Domae 11 3 0 29 Aug 2023
Rearrangement Planning for General Part Assembly Yulong Li Andy Zeng Shuran Song 8 6 0 01 Jul 2023
Deep Predictive Learning: Motion Learning Concept inspired by Cognitive Robotics Kanata Suzuki Hiroshi Ito Tatsuro Yamada Kei Kase Tetsuya Ogata 14 12 0 26 Jun 2023
Contact Reduction with Bounded Stiffness for Robust Sim-to-Real Transfer of Robot Assembly N. Vuong Quang-Cuong Pham 16 2 0 11 Jun 2023
IndustReal: Transferring Contact-Rich Assembly Tasks from Simulation to Reality Bingjie Tang Michael A. Lin Iretiayo Akinola Ankur Handa Gaurav Sukhatme Fabio Ramos D. Fox Yashraj S. Narang OffRL 18 44 0 26 May 2023
M-EMBER: Tackling Long-Horizon Mobile Manipulation via Factorized Domain Transfer Bohan Wu Roberto Martin-Martin Li Fei-Fei 12 7 0 23 May 2023
FurnitureBench: Reproducible Real-World Benchmark for Long-Horizon Complex Manipulation Minho Heo Youngwoon Lee Doohyun Lee Joseph J. Lim 11 63 0 22 May 2023
DexPBT: Scaling up Dexterous Manipulation for Hand-Arm Systems with Population Based Training Aleksei Petrenko Arthur Allshire Gavriel State Ankur Handa Viktor Makoviychuk 16 15 0 20 May 2023
SPONGE: Sequence Planning with Deformable-ON-Rigid Contact Prediction from Geometric Features Tran Minh Son Le Fares J. Abu-Dakka Ville Kyrki 12 0 0 24 Mar 2023
IKEA-Manual: Seeing Shape Assembly Step by Step Ruocheng Wang Yunzhi Zhang Jiayuan Mao Ran Zhang Chin-Yi Cheng Jiajun Wu 3DV 6 9 0 03 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 21 96 0 10 Jan 2023
OpenD: A Benchmark for Language-Driven Door and Drawer Opening Yizhou Zhao Qiaozi Gao Liang Qiu Govind Thattai Gaurav Sukhatme 8 4 0 10 Dec 2022
Efficient Representations of Object Geometry for Reinforcement Learning of Interactive Grasping Policies Malte Mosbach Sven Behnke 13 4 0 20 Nov 2022
Assemble Them All: Physics-Based Planning for Generalizable Assembly by Disassembly Yunsheng Tian Jie Xu Yichen Li Jieliang Luo Shinjiro Sueda Hui Li Karl D. D. Willis Wojciech Matusik 6 7 0 08 Nov 2022
Retrospectives on the Embodied AI Workshop Matt Deitke Dhruv Batra Yonatan Bisk Tommaso Campari Angel X. Chang ... Jesse Thomason Alexander Toshev Joanne Truong Luca Weihs Jiajun Wu LM&Ro 20 39 0 13 Oct 2022
A Learning-Based Estimation and Control Framework for Contact-Intensive Tight-Tolerance Tasks Bukun Son Hyelim Choi Jeamin Yoon Dongjun Lee 14 0 0 11 Oct 2022
VIRDO++: Real-World, Visuo-tactile Dynamics and Perception of Deformable Objects Youngsun Wi Andy Zeng Peter R. Florence Nima Fazeli 48 15 0 07 Oct 2022