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2402.10329
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Universal Manipulation Interface: In-The-Wild Robot Teaching Without In-The-Wild Robots
15 February 2024
Cheng Chi
Zhenjia Xu
Chuer Pan
Eric A. Cousineau
Benjamin Burchfiel
Siyuan Feng
Russ Tedrake
Shuran Song
Re-assign community
ArXiv (abs)
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HuggingFace (15 upvotes)
Papers citing
"Universal Manipulation Interface: In-The-Wild Robot Teaching Without In-The-Wild Robots"
50 / 201 papers shown
Title
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Manipulation as in Simulation: Enabling Accurate Geometry Perception in Robots
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Zhengbang Zhu
Xiaoshen Han
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Haotong Lin
...
Xinghang Li
Yong Yu
Weinan Zhang
Tao Kong
Bingyi Kang
12
1
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02 Sep 2025
ManiFlow: A General Robot Manipulation Policy via Consistency Flow Training
Ge Yan
Jiyue Zhu
Yuquan Deng
Shiqi Yang
Ri-Zhao Qiu
...
Marius Memmel
Ranjay Krishna
Ankit Goyal
Xiaolong Wang
Dieter Fox
20
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0
01 Sep 2025
Survey of Vision-Language-Action Models for Embodied Manipulation
Haoran Li
Yuhui Chen
Wenbo Cui
Weiheng Liu
Kai Liu
Mingcai Zhou
Zhengtao Zhang
Dongbin Zhao
LM&Ro
24
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21 Aug 2025
Anticipatory and Adaptive Footstep Streaming for Teleoperated Bipedal Robots
Luigi Penco
Beomyeong Park
Stefan Fasano
Nehar Poddar
Stephen McCrory
Nicholas Kitchel
Tomasz Bialek
Dexton Anderson
Duncan Calvert
Robert Griffin
16
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15 Aug 2025
MLM: Learning Multi-task Loco-Manipulation Whole-Body Control for Quadruped Robot with Arm
Xin Liu
Bida Ma
Chenkun Qi
Yan Ding
Zhaxizhuoma
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Jiaqi Liu
Feng Gao
Jiangwei Zhong
Bin Zhao
Xuelong Li
20
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14 Aug 2025
AimBot: A Simple Auxiliary Visual Cue to Enhance Spatial Awareness of Visuomotor Policies
Yinpei Dai
Jayjun Lee
Yichi Zhang
Ziqiao Ma
Jed Yang
Amir Zadeh
Chuan Li
Nima Fazeli
Joyce Chai
20
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11 Aug 2025
Learning to See and Act: Task-Aware View Planning for Robotic Manipulation
Yongjie Bai
Zhouxia Wang
Teli Ma
Weixing Chen
Ziliang Chen
Mingtong Dai
Yongsen Zheng
Lingbo Liu
Guanbin Li
Liang Lin
52
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07 Aug 2025
Hand-Eye Autonomous Delivery: Learning Humanoid Navigation, Locomotion and Reaching
Sirui Chen
Yufei Ye
Zi-ang Cao
Jennifer Lew
Pei Xu
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33
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DiWA: Diffusion Policy Adaptation with World Models
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Chenguang Huang
Tim Welschehold
Wolfram Burgard
Abhinav Valada
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31
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0
05 Aug 2025
CLASS: Contrastive Learning via Action Sequence Supervision for Robot Manipulation
Sung-Wook Lee
Xuhui Kang
Brandon Yang
Yen-Ling Kuo
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30
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0
03 Aug 2025
Video Generators are Robot Policies
Junbang Liang
P. Tokmakov
Ruoshi Liu
Sruthi Sudhakar
Paarth Shah
Rares Andrei Ambrus
Carl Vondrick
VGen
43
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0
01 Aug 2025
HannesImitation: Grasping with the Hannes Prosthetic Hand via Imitation Learning
Carlo Alessi
Federico Vasile
Federico Ceola
Giulia Pasquale
Nicoló Boccardo
Lorenzo Natale
43
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0
01 Aug 2025
H-RDT: Human Manipulation Enhanced Bimanual Robotic Manipulation
Hongzhe Bi
Lingxuan Wu
Tianwei Lin
Hengkai Tan
Zhizhong Su
Hang Su
Jun-Jie Zhu
59
3
0
31 Jul 2025
Touch in the Wild: Learning Fine-Grained Manipulation with a Portable Visuo-Tactile Gripper
Xinyue Zhu
Binghao Huang
Yunzhu Li
49
1
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20 Jul 2025
Compliant Residual DAgger: Improving Real-World Contact-Rich Manipulation with Human Corrections
Xiaomeng Xu
Yifan Hou
Zeyi Liu
Shuran Song
103
1
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Dex1B: Learning with 1B Demonstrations for Dexterous Manipulation
Jianglong Ye
Keyi Wang
Chengjing Yuan
Ruihan Yang
Yiquan Li
Jiyue Zhu
Yuzhe Qin
Xueyan Zou
Xiaolong Wang
69
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20 Jun 2025
Human2LocoMan: Learning Versatile Quadrupedal Manipulation with Human Pretraining
Yaru Niu
Yunzhe Zhang
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Chenhao Li
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Bingqing Chen
Jonathan M Francis
Zhenzhen Li
Jie Tan
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117
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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
48
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0
19 Jun 2025
ControlVLA: Few-shot Object-centric Adaptation for Pre-trained Vision-Language-Action Models
Puhao Li
Yingying Wu
Ziheng Xi
Wanlin Li
Yuzhe Huang
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Yinghan Chen
Jianan Wang
Song-Chun Zhu
Tengyu Liu
Siyuan Huang
LM&Ro
92
2
0
19 Jun 2025
Vision in Action: Learning Active Perception from Human Demonstrations
Haoyu Xiong
Xiaomeng Xu
Jimmy Wu
Yifan Hou
Jeannette Bohg
Shuran Song
121
3
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18 Jun 2025
Tactile Beyond Pixels: Multisensory Touch Representations for Robot Manipulation
Carolina Higuera
Akash Sharma
Taosha Fan
Chaithanya Krishna Bodduluri
Byron Boots
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Mike Lambeta
Tingfan Wu
Zixi Liu
Francois Robert Hogan
Mustafa Mukadam
88
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17 Jun 2025
CDP: Towards Robust Autoregressive Visuomotor Policy Learning via Causal Diffusion
Jiahua Ma
Yiran Qin
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Xuanqi Liao
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103
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Latent Action Diffusion for Cross-Embodiment Manipulation
Erik Bauer
Elvis Nava
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99
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DynaGuide: Steering Diffusion Polices with Active Dynamic Guidance
Maximilian Du
Shuran Song
105
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IKDiffuser: A Generative Inverse Kinematics Solver for Multi-arm Robots via Diffusion Model
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Ziyuan Jiao
124
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16 Jun 2025
Touch begins where vision ends: Generalizable policies for contact-rich manipulation
Zifan Zhao
Siddhant Haldar
Jinda Cui
Lerrel Pinto
Raunaq M. Bhirangi
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97
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Adapting by Analogy: OOD Generalization of Visuomotor Policies via Functional Correspondence
Pranay Gupta
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69
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SAIL: Faster-than-Demonstration Execution of Imitation Learning Policies
Nadun Ranawaka Arachchige
Zhenyang Chen
Wonsuhk Jung
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Rohan Bansal
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Yu Hang He
Yingyang Celine Lin
Benjamin Joffe
Shreyas Kousik
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138
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13 Jun 2025
mimic-one: a Scalable Model Recipe for General Purpose Robot Dexterity
Elvis Nava
Victoriano Montesinos
Erik Bauer
Benedek Forrai
Jonas Pai
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Stephan-Daniel Gravert
Philipp Wand
Stephan Polinski
Benjamin Grewe
Robert K. Katzschmann
97
0
0
13 Jun 2025
ExoStart: Efficient learning for dexterous manipulation with sensorized exoskeleton demonstrations
Zilin Si
José Enrique Chen
M. Emre Karagozler
Antonia Bronars
Jonathan Hutchinson
...
M. Martins
Konstantinos Bousmalis
N. Heess
F. Nori
Maria Bauza Villalonga
101
1
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13 Jun 2025
Robotic System for Chemical Experiment Automation with Dual Demonstration of End-effector and Jig Operations
Hikaru Sasaki
N. Komeno
Takumi Hachimine
Kei Takahashi
Yu-ya Ohnishi
...
Miho Hatanaka
Tomoyuki Miyao
Hiroharu Ajiro
Mikiya Fujii
Takamitsu Matsubara
58
0
0
13 Jun 2025
Eye, Robot: Learning to Look to Act with a BC-RL Perception-Action Loop
Justin Kerr
Kush Hari
Ethan Weber
Chung Min Kim
Brent Yi
Tyler Bonnen
Ken Goldberg
Angjoo Kanazawa
180
3
0
12 Jun 2025
eFlesh: Highly customizable Magnetic Touch Sensing using Cut-Cell Microstructures
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Zizhou Huang
Daniele Panozzo
Denis Zorin
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Raunaq M. Bhirangi
131
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Advances on Affordable Hardware Platforms for Human Demonstration Acquisition in Agricultural Applications
Alberto San-Miguel-Tello
Gennaro Scarati
Alejandro Hernández
Mario Cavero-Vidal
Aakash Maroti
Néstor García
140
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Real-Time Execution of Action Chunking Flow Policies
Kevin Black
Manuel Y. Galliker
Sergey Levine
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117
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Where Do We Look When We Teach? Analyzing Human Gaze Behavior Across Demonstration Devices in Robot Imitation Learning
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Takamitsu Matsubara
Takayuki Kanai
Kazuhiro Shintani
Hiroshi Bito
94
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LiPo: A Lightweight Post-optimization Framework for Smoothing Action Chunks Generated by Learned Policies
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Suhan Park
210
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GEX: Democratizing Dexterity with Fully-Actuated Dexterous Hand and Exoskeleton Glove
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Xing Liu
Jun Wan
Zelin Deng
155
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A Smooth Sea Never Made a Skilled
SAILOR
\texttt{SAILOR}
SAILOR
: Robust Imitation via Learning to Search
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Vibhakar Mohta
Subin Kim
Atiksh Bhardwaj
Juntao Ren
Yunhai Feng
Sanjiban Choudhury
Gokul Swamy
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171
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Object-centric 3D Motion Field for Robot Learning from Human Videos
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Sherry Yang
Pieter Abbeel
148
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FreeTacMan: Robot-free Visuo-Tactile Data Collection System for Contact-rich Manipulation
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Checheng Yu
Jieji Ren
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Ran Huang
Guoying Gu
Xinyue Cai
105
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Feel the Force: Contact-Driven Learning from Humans
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109
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SR3D: Unleashing Single-view 3D Reconstruction for Transparent and Specular Object Grasping
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Hojin Bae
Yan Shen
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149
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Interactive Imitation Learning for Dexterous Robotic Manipulation: Challenges and Perspectives -- A Survey
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Rania Rayyes
92
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π
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Isabella Huang
Brandon Vu
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Rika Antonova
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86
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DexUMI: Using Human Hand as the Universal Manipulation Interface for Dexterous Manipulation
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Han Zhang
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Linxi Fan
Manuela Veloso
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125
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Spatial RoboGrasp: Generalized Robotic Grasping Control Policy
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Travis Davies
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Jiankai Sun
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Luhui Hu
123
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Genie Centurion: Accelerating Scalable Real-World Robot Training with Human Rewind-and-Refine Guidance
Wenhao Wang
Jianheng Song
Chiming Liu
Jiayao Ma
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Modi Shi
Xindong He
Guanghui Ren
Yang Yang
Maoqing Yao
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120
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ManiFeel: Benchmarking and Understanding Visuotactile Manipulation Policy Learning
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Pokuang Zhou
Zhengtong Xu
Zhiyuan Zhang
Qiang Qiu
Yu She
89
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