Decomposing the Generalization Gap in Imitation Learning for Visual Robotic Manipulation

7 July 2023

Papers citing "Decomposing the Generalization Gap in Imitation Learning for Visual Robotic Manipulation"

46 / 46 papers shown

Title
RL-Driven Data Generation for Robust Vision-Based Dexterous Grasping Atsushi Kanehira Naoki Wake Kazuhiro Sasabuchi Jun Takamatsu Katsushi Ikeuchi 39 0 0 25 Apr 2025
CIVIL: Causal and Intuitive Visual Imitation Learning Yinlong Dai Robert Ramirez Sanchez Ryan Jeronimus Shahabedin Sagheb Cara M. Nunez Heramb Nemlekar Dylan P. Losey 58 0 0 24 Apr 2025
Haptic-based Complementary Filter for Rigid Body Rotations Amit Kumar Domenico Campolo Ravi N. Banavar 22 0 0 20 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
RoboEngine: Plug-and-Play Robot Data Augmentation with Semantic Robot Segmentation and Background Generation Chengbo Yuan Suraj Joshi Shaoting Zhu Hang Su Hang Zhao Yang Gao VGen 45 3 0 24 Mar 2025
Adversarial Data Collection: Human-Collaborative Perturbations for Efficient and Robust Robotic Imitation Learning Siyuan Huang Yue Liao Siyuan Feng Shu Jiang Si Liu Hongsheng Li Maoqing Yao Guanghui Ren AAML 55 0 0 14 Mar 2025
FP3: A 3D Foundation Policy for Robotic Manipulation Rujia Yang Geng Chen Chuan Wen Yang Gao LM&Ro 73 1 0 11 Mar 2025
Refined Policy Distillation: From VLA Generalists to RL Experts Tobias Jülg Wolfram Burgard Florian Walter OffRL 34 1 0 06 Mar 2025
A Taxonomy for Evaluating Generalist Robot Policies Jensen Gao Suneel Belkhale Sudeep Dasari Ashwin Balakrishna Dhruv Shah Dorsa Sadigh LM&Ro 50 3 0 03 Mar 2025
Phantom: Training Robots Without Robots Using Only Human Videos Marion Lepert Jiaying Fang Jeannette Bohg OffRL 40 7 0 02 Mar 2025
Subtask-Aware Visual Reward Learning from Segmented Demonstrations Changyeon Kim Minho Heo Doohyun Lee Jinwoo Shin Honglak Lee Joseph J. Lim Kimin Lee 32 0 0 28 Feb 2025
Enhancing Reusability of Learned Skills for Robot Manipulation via Gaze and Bottleneck Ryo Takizawa Izumi Karino Koki Nakagawa Y. Ohmura Y. Kuniyoshi 75 1 0 25 Feb 2025
View-Invariant Policy Learning via Zero-Shot Novel View Synthesis Stephen Tian Blake Wulfe Kyle Sargent Katherine Liu Sergey Zakharov Vitor Campagnolo Guizilini Jiajun Wu 70 10 0 21 Feb 2025
Efficient Evaluation of Multi-Task Robot Policies With Active Experiment Selection Abrar Anwar Rohan Gupta Zain Merchant Sayan Ghosh Willie Neiswanger Jesse Thomason OffRL 64 0 0 14 Feb 2025
Motion Tracks: A Unified Representation for Human-Robot Transfer in Few-Shot Imitation Learning Juntao Ren Priya Sundaresan Dorsa Sadigh Sanjiban Choudhury Jeannette Bohg 37 13 0 13 Jan 2025
TrojanRobot: Physical-World Backdoor Attacks Against VLM-based Robotic Manipulation X. U. Wang Hewen Pan Hangtao Zhang Minghui Li Shengshan Hu ... Peijin Guo Yichen Wang Wei Wan Aishan Liu L. Zhang AAML 77 3 0 18 Nov 2024
Stem-OB: Generalizable Visual Imitation Learning with Stem-Like Convergent Observation through Diffusion Inversion Kaizhe Hu Zihang Rui Yao He Yuyao Liu Pu Hua Huazhe Xu 33 1 0 07 Nov 2024
Vocal Sandbox: Continual Learning and Adaptation for Situated Human-Robot Collaboration J. Grannen Siddharth Karamcheti Suvir Mirchandani Percy Liang Dorsa Sadigh 33 0 0 04 Nov 2024
AugInsert: Learning Robust Visual-Force Policies via Data Augmentation for Object Assembly Tasks Ryan Diaz Adam Imdieke Vivek Veeriah Karthik Desingh 23 0 0 19 Oct 2024
AHA: A Vision-Language-Model for Detecting and Reasoning Over Failures in Robotic Manipulation Jiafei Duan Wilbert Pumacay Nishanth Kumar Yi Ru Wang Shulin Tian Wentao Yuan Ranjay Krishna Dieter Fox Ajay Mandlekar Yijie Guo VLM LRM 23 19 0 01 Oct 2024
M2Distill: Multi-Modal Distillation for Lifelong Imitation Learning Kaushik Roy Akila Dissanayake Brendan Tidd Peyman Moghadam CLL VLM 40 2 0 30 Sep 2024
GravMAD: Grounded Spatial Value Maps Guided Action Diffusion for Generalized 3D Manipulation Yangtao Chen Zixuan Chen Junhui Yin Jing Huo Pinzhuo Tian Jieqi Shi Yang Gao LM&Ro 42 2 0 30 Sep 2024
RoboNurse-VLA: Robotic Scrub Nurse System based on Vision-Language-Action Model Shunlei Li Jin Wang Rui Dai Wanyu Ma Wing Yin Ng Yingbai Hu Zheng Li 24 2 0 29 Sep 2024
Haptic-ACT: Bridging Human Intuition with Compliant Robotic Manipulation via Immersive VR Kelin Li Shubham M. Wagh Nitish Sharma Saksham Bhadani Wei Chen Chang Liu Petar Kormushev 32 2 0 18 Sep 2024
Re-Mix: Optimizing Data Mixtures for Large Scale Imitation Learning Joey Hejna Chethan Bhateja Yichen Jian Karl Pertsch Dorsa Sadigh 23 11 0 26 Aug 2024
Theia: Distilling Diverse Vision Foundation Models for Robot Learning Jinghuan Shang Karl Schmeckpeper Brandon B. May M. Minniti Tarik Kelestemur David Watkins Laura Herlant VLM 32 23 0 29 Jul 2024
Learning to Manipulate Anywhere: A Visual Generalizable Framework For Reinforcement Learning Zhecheng Yuan Tianming Wei Shuiqi Cheng Gu Zhang Yuanpei Chen Huazhe Xu 43 20 0 22 Jul 2024
Green Screen Augmentation Enables Scene Generalisation in Robotic Manipulation Eugene Teoh Sumit Patidar Xiao Ma Stephen James 35 5 0 10 Jul 2024
Contrast Sets for Evaluating Language-Guided Robot Policies Abrar Anwar Rohan Gupta Jesse Thomason 24 2 0 19 Jun 2024
OpenVLA: An Open-Source Vision-Language-Action Model Moo Jin Kim Karl Pertsch Siddharth Karamcheti Ted Xiao Ashwin Balakrishna ... Russ Tedrake Dorsa Sadigh Sergey Levine Percy Liang Chelsea Finn LM&Ro VLM 37 348 0 13 Jun 2024
TRANSIC: Sim-to-Real Policy Transfer by Learning from Online Correction Yunfan Jiang Chen Wang Ruohan Zhang Jiajun Wu Fei-Fei Li OnRL 30 25 0 16 May 2024
Evaluating Real-World Robot Manipulation Policies in Simulation Xuanlin Li Kyle Hsu Jiayuan Gu Karl Pertsch Oier Mees ... Jiajun Wu Chelsea Finn Hao Su Q. Vuong Ted Xiao OffRL 37 55 0 09 May 2024
Point Cloud Models Improve Visual Robustness in Robotic Learners Skand Peri Iain Lee Chanho Kim Fuxin Li Tucker Hermans Stefan Lee 3DPC 34 3 0 29 Apr 2024
CoPa: General Robotic Manipulation through Spatial Constraints of Parts with Foundation Models Haoxu Huang Fanqi Lin Yingdong Hu Shengjie Wang Yang Gao 29 49 0 13 Mar 2024
Efficient Data Collection for Robotic Manipulation via Compositional Generalization Jensen Gao Annie Xie Ted Xiao Chelsea Finn Dorsa Sadigh 29 18 0 08 Mar 2024
Pushing the Limits of Cross-Embodiment Learning for Manipulation and Navigation Jonathan Yang Catherine Glossop Arjun Bhorkar Dhruv Shah Quan Vuong Chelsea Finn Dorsa Sadigh Sergey Levine 33 41 0 29 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
Mobile ALOHA: Learning Bimanual Mobile Manipulation with Low-Cost Whole-Body Teleoperation Zipeng Fu Tony Zhao Chelsea Finn 100 281 0 04 Jan 2024
RT-Trajectory: Robotic Task Generalization via Hindsight Trajectory Sketches Jiayuan Gu Sean Kirmani Paul Wohlhart Yao Lu Montse Gonzalez Arenas ... Hao Su Karol Hausman Chelsea Finn Q. Vuong Ted Xiao 15 61 0 03 Nov 2023
How Physics and Background Attributes Impact Video Transformers in Robotic Manipulation: A Case Study on Planar Pushing Shutong Jin Ruiyu Wang Muhammad Zahid Florian T. Pokorny 21 1 0 03 Oct 2023
RL-ViGen: A Reinforcement Learning Benchmark for Visual Generalization Zhecheng Yuan Sizhe Yang Pu Hua C. Chang Kaizhe Hu Huazhe Xu OOD OffRL 20 16 0 15 Jul 2023
Learning Dense Visual Descriptors using Image Augmentations for Robot Manipulation Tasks Christian Graf David B. Adrian Joshua Weil Miroslav Gabriel Philipp Schillinger Markus Spies Heiko Neumann A. Kupcsik SSL 30 6 0 12 Sep 2022
Ego4D: Around the World in 3,000 Hours of Egocentric Video Kristen Grauman Andrew Westbury Eugene Byrne Zachary Chavis Antonino Furnari ... Mike Zheng Shou Antonio Torralba Lorenzo Torresani Mingfei Yan Jitendra Malik EgoV 224 1,017 0 13 Oct 2021
Bridge Data: Boosting Generalization of Robotic Skills with Cross-Domain Datasets F. Ebert Yanlai Yang Karl Schmeckpeper Bernadette Bucher G. Georgakis Kostas Daniilidis Chelsea Finn Sergey Levine 152 212 0 27 Sep 2021
The Distracting Control Suite -- A Challenging Benchmark for Reinforcement Learning from Pixels Austin Stone Oscar Ramirez K. Konolige Rico Jonschkowski 127 101 0 07 Jan 2021
ImageNet Large Scale Visual Recognition Challenge Olga Russakovsky Jia Deng Hao Su J. Krause S. Satheesh ... A. Karpathy A. Khosla Michael S. Bernstein Alexander C. Berg Li Fei-Fei VLM ObjD 279 39,083 0 01 Sep 2014