Imitating Task and Motion Planning with Visuomotor Transformers

25 May 2023

Papers citing "Imitating Task and Motion Planning with Visuomotor Transformers"

50 / 55 papers shown

Title
Augmented Reality for RObots (ARRO): Pointing Visuomotor Policies Towards Visual Robustness Reihaneh Mirjalili Tobias Jülg Florian Walter Wolfram Burgard 14 0 0 13 May 2025
RoboGround: Robotic Manipulation with Grounded Vision-Language Priors Haifeng Huang Xinyi Chen Y. Chen H. Li Xiaoshen Han Z. Wang Tai Wang Jiangmiao Pang Zhou Zhao LM&Ro 75 0 0 30 Apr 2025
RoboTwin: Dual-Arm Robot Benchmark with Generative Digital Twins Yao Mu Tianxing Chen Z. Chen Shijia Peng Zhiqian Lan ... Mingkun Xu Lunkai Lin Zhiqiang Xie Mingyu Ding Ping Luo 24 1 0 17 Apr 2025
Sim-and-Real Co-Training: A Simple Recipe for Vision-Based Robotic Manipulation Abhiram Maddukuri Z. L. Jiang L. Chen Soroush Nasiriany Yuqi Xie ... Scott Reed Ken Goldberg Ajay Mandlekar Linxi Fan Yuke Zhu 59 1 0 31 Mar 2025
Empirical Analysis of Sim-and-Real Cotraining Of Diffusion Policies For Planar Pushing from Pixels Adam Wei Abhinav Agarwal Boyuan Chen Rohan Bosworth Nicholas Pfaff Russ Tedrake 40 1 0 28 Mar 2025
GR00T N1: An Open Foundation Model for Generalist Humanoid Robots Nvidia Johan Bjorck Fernando Castañeda Nikita Cherniadev Xingye Da ... Ao Zhang Hao Zhang Yizhou Zhao Ruijie Zheng Yuke Zhu VLM 59 12 0 18 Mar 2025
Learning Bimanual Manipulation via Action Chunking and Inter-Arm Coordination with Transformers Tomohiro Motoda Ryo Hanai Ryoichi Nakajo Masaki Murooka Floris Erich Y. Domae 44 1 0 18 Mar 2025
LuciBot: Automated Robot Policy Learning from Generated Videos Xiaowen Qiu Yian Wang Jiting Cai Zhehuan Chen Chunru Lin Tsun-Hsuan Wang Chuang Gan LM&Ro VGen 67 0 0 12 Mar 2025
VLA Model-Expert Collaboration for Bi-directional Manipulation Learning Tian-Yu Xiang Ao-Qun Jin Xiao-Hu Zhou Mei-Jiang Gui Xiao-Liang Xie ... Shuang-Yi Wang Sheng-Bin Duang Si-Cheng Wang Zheng Lei Z. Hou 58 1 0 06 Mar 2025
DemoGen: Synthetic Demonstration Generation for Data-Efficient Visuomotor Policy Learning Zhengrong Xue Shuying Deng Zhenyang Chen Yixuan Wang Zhecheng Yuan Huazhe Xu 41 2 0 24 Feb 2025
Articulate AnyMesh: Open-Vocabulary 3D Articulated Objects Modeling Xiaowen Qiu Jincheng Yang Yian Wang Zhehuan Chen Yufei Wang Tsun-Hsuan Wang Zhou Xian Chuang Gan 87 4 0 04 Feb 2025
Planning-Guided Diffusion Policy Learning for Generalizable Contact-Rich Bimanual Manipulation Xuanlin Li Tong Zhao Xinghao Zhu Jiuguang Wang Tao Pang Kuan Fang 82 4 0 03 Dec 2024
Architect: Generating Vivid and Interactive 3D Scenes with Hierarchical 2D Inpainting Yian Wang Xiaowen Qiu Jiageng Liu Zhehuan Chen Jiting Cai Yufei Wang Tsun-Hsuan Wang Zhou Xian Chuang Gan VGen AI4CE 43 5 0 14 Nov 2024
DexMimicGen: Automated Data Generation for Bimanual Dexterous Manipulation via Imitation Learning Zhenyu Jiang Yuqi Xie K. Lin Zhenjia Xu Weikang Wan Ajay Mandlekar Linxi Fan Yuke Zhu 40 22 0 31 Oct 2024
Local Policies Enable Zero-shot Long-horizon Manipulation Murtaza Dalal Min Liu Walter Talbott Chen Chen Deepak Pathak Jian Zhang Ruslan Salakhutdinov 36 3 0 29 Oct 2024
SkillMimicGen: Automated Demonstration Generation for Efficient Skill Learning and Deployment Caelan Reed Garrett Ajay Mandlekar Bowen Wen Dieter Fox 28 11 0 24 Oct 2024
Automated Planning Domain Inference for Task and Motion Planning Jinbang Huang Allen Tao Rozilyn Marco Miroslav Bogdanovic Jonathan Kelly Florian Shkurti 24 1 0 21 Oct 2024
Automated Creation of Digital Cousins for Robust Policy Learning Tianyuan Dai Josiah Wong Yunfan Jiang Chen Wang Cem Gokmen Ruohan Zhang Jiajun Wu Li Fei-Fei 31 19 0 09 Oct 2024
Neural MP: A Generalist Neural Motion Planner Murtaza Dalal Jiahui Yang Russell Mendonca Youssef Khaky Ruslan Salakhutdinov Deepak Pathak 21 6 0 09 Sep 2024
Points2Plans: From Point Clouds to Long-Horizon Plans with Composable Relational Dynamics Yixuan Huang Christopher Agia Jimmy Wu Tucker Hermans Jeannette Bohg 3DPC 44 1 0 27 Aug 2024
Jacta: A Versatile Planner for Learning Dexterous and Whole-body Manipulation Jan Brüdigam Ali-Adeeb Abbas Maks Sorokin Kuan Fang Brandon Hung Maya Guru Stefan Sosnowski Jiuguang Wang Sandra Hirche Simon Le Cleac'h 31 2 0 02 Aug 2024
Potential Based Diffusion Motion Planning Yunhao Luo Chen Sun Joshua B. Tenenbaum Yilun Du DiffM 27 14 0 08 Jul 2024
FetchBench: A Simulation Benchmark for Robot Fetching Beining Han Meenal Parakh Derek Geng Jack A. Defay Luyang Gan Jia Deng 33 1 0 17 Jun 2024
RoboCasa: Large-Scale Simulation of Everyday Tasks for Generalist Robots Soroush Nasiriany Abhiram Maddukuri Lance Zhang Adeet Parikh Aaron Lo Abhishek Joshi Ajay Mandlekar Yuke Zhu LM&Ro 30 68 0 04 Jun 2024
Geometric Fabrics: a Safe Guiding Medium for Policy Learning Karl Van Wyk Ankur Handa Viktor Makoviychuk Yijie Guo Arthur Allshire Nathan D. Ratliff 19 5 0 03 May 2024
Plan-Seq-Learn: Language Model Guided RL for Solving Long Horizon Robotics Tasks Murtaza Dalal Tarun Chiruvolu Devendra Singh Chaplot Ruslan Salakhutdinov LM&Ro 29 19 0 02 May 2024
IntervenGen: Interventional Data Generation for Robust and Data-Efficient Robot Imitation Learning Ryan Hoque Ajay Mandlekar Caelan Reed Garrett Ken Goldberg Dieter Fox 25 14 0 02 May 2024
LEGENT: Open Platform for Embodied Agents Zhili Cheng Zhitong Wang Jinyi Hu Shengding Hu An Liu Yuge Tu Pengkai Li Lei Shi Zhiyuan Liu Maosong Sun VLM 22 6 0 28 Apr 2024
Logic Learning from Demonstrations for Multi-step Manipulation Tasks in Dynamic Environments Yan Zhang Teng Xue Amirreza Razmjoo Sylvain Calinon 24 2 0 24 Apr 2024
CyberDemo: Augmenting Simulated Human Demonstration for Real-World Dexterous Manipulation Jun Wang Yuzhe Qin Kaiming Kuang Yigit Korkmaz Akhilan Gurumoorthy Hao Su Xiaolong Wang 34 19 0 22 Feb 2024
THE COLOSSEUM: A Benchmark for Evaluating Generalization for Robotic Manipulation Wilbert Pumacay Ishika Singh Jiafei Duan Ranjay Krishna Jesse Thomason Dieter Fox 27 39 0 13 Feb 2024
InCoRo: In-Context Learning for Robotics Control with Feedback Loops Jiaqiang Ye Zhu Carla Gomez Cano David Vazquez Bermudez Michal Drozdzal LRM 14 7 0 07 Feb 2024
GenH2R: Learning Generalizable Human-to-Robot Handover via Scalable Simulation, Demonstration, and Imitation Zifan Wang Junyu Chen Ziqing Chen Pengwei Xie Rui Chen Li Yi 29 9 0 01 Jan 2024
Toward General-Purpose Robots via Foundation Models: A Survey and Meta-Analysis Yafei Hu Quanting Xie Vidhi Jain Jonathan M Francis Jay Patrikar ... Xiaolong Wang Sebastian A. Scherer Z. Kira Fei Xia Yonatan Bisk LM&Ro AI4CE 30 62 0 14 Dec 2023
Working Backwards: Learning to Place by Picking Oliver Limoyo Abhisek Konar Trevor Ablett Jonathan Kelly F. Hogan Gregory Dudek 8 0 0 04 Dec 2023
Offline Skill Generalization via Task and Motion Planning Shin Watanabe Geir Horn J. Tørresen K. Ellefsen OffRL 13 0 0 24 Nov 2023
NOD-TAMP: Generalizable Long-Horizon Planning with Neural Object Descriptors Shuo Cheng Caelan Reed Garrett Ajay Mandlekar Danfei Xu 15 2 0 02 Nov 2023
RoboGen: Towards Unleashing Infinite Data for Automated Robot Learning via Generative Simulation Yufei Wang Zhou Xian Feng Chen Tsun-Hsuan Wang Yian Wang Katerina Fragkiadaki Zackory M. Erickson David Held Chuang Gan LM&Ro 30 94 0 02 Nov 2023
Gen2Sim: Scaling up Robot Learning in Simulation with Generative Models Pushkal Katara Zhou Xian Katerina Fragkiadaki LM&Ro 38 34 0 27 Oct 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 71 96 0 26 Oct 2023
Human-in-the-Loop Task and Motion Planning for Imitation Learning Ajay Mandlekar Caelan Reed Garrett Danfei Xu Dieter Fox 37 15 0 24 Oct 2023
STAMP: Differentiable Task and Motion Planning via Stein Variational Gradient Descent Yewon Lee Philip Huang Krishna Murthy Jatavallabhula Andrew Z. Li Fabian Damken Eric Heiden Kevin Smith Derek Nowrouzezahrai Fabio Ramos Florian Shkurti University of Toronto 11 4 0 03 Oct 2023
GNFactor: Multi-Task Real Robot Learning with Generalizable Neural Feature Fields Yanjie Ze Ge Yan Yueh-hua Wu Annabella Macaluso Yuying Ge Jianglong Ye Nicklas Hansen Li Erran Li X. Wang DiffM AI4CE 12 80 0 31 Aug 2023
AR2-D2:Training a Robot Without a Robot Jiafei Duan Yi Ru Wang Mohit Shridhar D. Fox Ranjay Krishna 14 26 0 23 Jun 2023
Text2Motion: From Natural Language Instructions to Feasible Plans Kevin Qinghong Lin Christopher Agia Toki Migimatsu Marco Pavone Jeannette Bohg LM&Ro 16 264 0 21 Mar 2023
Transformer in Transformer as Backbone for Deep Reinforcement Learning Hangyu Mao Rui Zhao Hao Chen Jianye Hao Yiqun Chen Dong Li Junge Zhang Zhen Xiao OffRL 23 8 0 30 Dec 2022
LEAGUE: Guided Skill Learning and Abstraction for Long-Horizon Manipulation Shuo Cheng Danfei Xu 36 35 0 23 Oct 2022
Motion Policy Networks Adam Fishman Adithya Murali Clemens Eppner Bryan N. Peele Byron Boots D. Fox 48 55 0 21 Oct 2022
Perceiver-Actor: A Multi-Task Transformer for Robotic Manipulation Mohit Shridhar Lucas Manuelli D. Fox LM&Ro 143 449 0 12 Sep 2022
Instruction-driven history-aware policies for robotic manipulations Pierre-Louis Guhur Shizhe Chen Ricardo Garcia Pinel Makarand Tapaswi Ivan Laptev Cordelia Schmid LM&Ro 94 101 0 11 Sep 2022