Learning Generalizable Manipulation Policies with Object-Centric 3D Representations

22 October 2023

Papers citing "Learning Generalizable Manipulation Policies with Object-Centric 3D Representations"

32 / 32 papers shown

Title
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
Tool-as-Interface: Learning Robot Policies from Human Tool Usage through Imitation Learning Haonan Chen Cheng Zhu Yunzhu Li Katherine Driggs-Campbell 21 0 0 06 Apr 2025
Learning Predictive Visuomotor Coordination Wenqi Jia Bolin Lai Miao Liu Danfei Xu James M. Rehg 47 0 0 30 Mar 2025
Point Policy: Unifying Observations and Actions with Key Points for Robot Manipulation Siddhant Haldar Lerrel Pinto 3DPC 58 2 0 27 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
Tra-MoE: Learning Trajectory Prediction Model from Multiple Domains for Adaptive Policy Conditioning Jiange Yang Haoyi Zhu Y. Wang Gangshan Wu Tong He Limin Wang 83 2 0 21 Nov 2024
Learning Generalizable 3D Manipulation With 10 Demonstrations Yu Ren Yang Cong Ronghan Chen Jiahao Long SSL 41 1 0 15 Nov 2024
Task-Oriented Hierarchical Object Decomposition for Visuomotor Control Jianing Qian Yunshuang Li Bernadette Bucher Dinesh Jayaraman OCL 42 0 0 02 Nov 2024
SPOT: SE(3) Pose Trajectory Diffusion for Object-Centric Manipulation Cheng-Chun Hsu Bowen Wen Jie Xu Yashraj S. Narang Xiaolong Wang Yuke Zhu Joydeep Biswas Stan Birchfield DiffM 32 8 0 01 Nov 2024
OKAMI: Teaching Humanoid Robots Manipulation Skills through Single Video Imitation Jinhan Li Yifeng Zhu Yuqi Xie Zhenyu Jiang Mingyo Seo Georgios Pavlakos Yuke Zhu LM&Ro 23 31 0 15 Oct 2024
Run-time Observation Interventions Make Vision-Language-Action Models More Visually Robust Asher Hancock Allen Z. Ren Anirudha Majumdar VLM 26 1 0 02 Oct 2024
Robot See Robot Do: Imitating Articulated Object Manipulation with Monocular 4D Reconstruction Justin Kerr C. Kim Mingxuan Wu Brent Yi Qianqian Wang Ken Goldberg Angjoo Kanazawa 18 12 0 26 Sep 2024
ReKep: Spatio-Temporal Reasoning of Relational Keypoint Constraints for Robotic Manipulation Wenlong Huang Chen Wang Y. Li Ruohan Zhang Li Fei-Fei 37 81 0 03 Sep 2024
Language-Guided Object-Centric Diffusion Policy for Generalizable and Collision-Aware Robotic Manipulation Hang Li Qian Feng Zhi Zheng Jianxiang Feng Zhaopeng Chen Alois Knoll 21 1 0 29 Jun 2024
Vision-based Manipulation from Single Human Video with Open-World Object Graphs Yifeng Zhu Arisrei Lim Peter Stone Yuke Zhu 25 33 0 30 May 2024
Recasting Generic Pretrained Vision Transformers As Object-Centric Scene Encoders For Manipulation Policies Jianing Qian Anastasios Panagopoulos Dinesh Jayaraman LM&Ro ViT 38 5 0 24 May 2024
Point Cloud Models Improve Visual Robustness in Robotic Learners Skand Peri Iain Lee Chanho Kim Fuxin Li Tucker Hermans Stefan Lee 3DPC 28 3 0 29 Apr 2024
Composing Pre-Trained Object-Centric Representations for Robotics From "What" and "Where" Foundation Models Junyao Shi Jianing Qian Yecheng Jason Ma Dinesh Jayaraman OCL 24 4 0 20 Apr 2024
RISE: 3D Perception Makes Real-World Robot Imitation Simple and Effective Chenxi Wang Hongjie Fang Haoshu Fang Cewu Lu VGen 19 19 0 18 Apr 2024
DITTO: Demonstration Imitation by Trajectory Transformation Nick Heppert Max Argus Tim Welschehold Thomas Brox Abhinav Valada 59 16 0 22 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
Object-Centric Instruction Augmentation for Robotic Manipulation Junjie Wen Yichen Zhu Minjie Zhu Jinming Li Zhiyuan Xu ... Chaomin Shen Yaxin Peng Dong Liu Feifei Feng Jian Tang LM&Ro 59 16 0 05 Jan 2024
Learning Multi-Step Manipulation Tasks from A Single Human Demonstration Dingkun Guo 19 5 0 23 Dec 2023
Harmonic Mobile Manipulation Ruihan Yang Yejin Kim Aniruddha Kembhavi Xiaolong Wang Kiana Ehsani 21 13 0 11 Dec 2023
LOTUS: Continual Imitation Learning for Robot Manipulation Through Unsupervised Skill Discovery Weikang Wan Yifeng Zhu Rutav Shah Yuke Zhu SSL LM&Ro VLM CLL 20 21 0 03 Nov 2023
Learning Dynamic Attribute-factored World Models for Efficient Multi-object Reinforcement Learning Fan Feng Sara Magliacane OffRL OCL 26 10 0 18 Jul 2023
Open-World Object Manipulation using Pre-trained Vision-Language Models Austin Stone Ted Xiao Yao Lu K. Gopalakrishnan Kuang-Huei Lee ... Sean Kirmani Brianna Zitkovich F. Xia Chelsea Finn Karol Hausman LM&Ro 139 144 0 02 Mar 2023
Perceiver-Actor: A Multi-Task Transformer for Robotic Manipulation Mohit Shridhar Lucas Manuelli D. Fox LM&Ro 143 449 0 12 Sep 2022
Visuomotor Control in Multi-Object Scenes Using Object-Aware Representations Negin Heravi Ayzaan Wahid Corey Lynch Peter R. Florence Travis Armstrong Jonathan Tompson P. Sermanet Jeannette Bohg Debidatta Dwibedi SSL 59 13 0 12 May 2022
What Matters in Learning from Offline Human Demonstrations for Robot Manipulation Ajay Mandlekar Danfei Xu J. Wong Soroush Nasiriany Chen Wang Rohun Kulkarni Li Fei-Fei Silvio Savarese Yuke Zhu Roberto Martín-Martín OffRL 139 461 0 06 Aug 2021
Emerging Properties in Self-Supervised Vision Transformers Mathilde Caron Hugo Touvron Ishan Misra Hervé Jégou Julien Mairal Piotr Bojanowski Armand Joulin 283 5,723 0 29 Apr 2021