UMI on Legs: Making Manipulation Policies Mobile with
Manipulation-Centric Whole-body Controllers

UMI on Legs: Making Manipulation Policies Mobile with Manipulation-Centric Whole-body Controllers

14 July 2024

Jie Tan

Shuran Song

Papers citing "UMI on Legs: Making Manipulation Policies Mobile with Manipulation-Centric Whole-body Controllers"

18 / 18 papers shown

Title
DexWild: Dexterous Human Interactions for In-the-Wild Robot Policies Tony Tao M. K. Srirama Jason Jingzhou Liu Kenneth Shaw Deepak Pathak 11 0 0 12 May 2025
RoboVerse: Towards a Unified Platform, Dataset and Benchmark for Scalable and Generalizable Robot Learning Haoran Geng Feishi Wang Songlin Wei Y. Li Bangjun Wang ... Hao Dong Siyuan Huang Yue Wang Jitendra Malik Pieter Abbeel 73 2 0 26 Apr 2025
STDArm: Transferring Visuomotor Policies From Static Data Training to Dynamic Robot Manipulation Yifan Duan Heng Li Yilong Wu Wenhao Yu Xinran Zhang Yedong Shen J. Ji Y. Zhang 42 0 0 26 Apr 2025
HumanoidPano: Hybrid Spherical Panoramic-LiDAR Cross-Modal Perception for Humanoid Robots Qiang Zhang Zhang Zhang Wei Cui Jingkai Sun Jiahang Cao ... Hao-Ran Cheng Yujie Chen L. Wang Jian Tang Renjing Xu 46 3 0 12 Mar 2025
LEGATO: Cross-Embodiment Imitation Using a Grasping Tool Mingyo Seo H. Andy Park Shenli Yuan Yuke Zhu Luis Sentis 70 5 0 20 Feb 2025
DexVLA: Vision-Language Model with Plug-In Diffusion Expert for General Robot Control Junjie Wen Y. X. Zhu Jinming Li Zhibin Tang Chaomin Shen Feifei Feng VLM 53 10 0 09 Feb 2025
RobotMover: Learning to Move Large Objects From Human Demonstrations Tianyu Li Joanne Truong Jimmy Yang Alexander William Clegg Akshara Rai Sehoon Ha Xavier Puig AI4CE 55 0 0 07 Feb 2025
CAIMAN: Causal Action Influence Detection for Sample-efficient Loco-manipulation Yuanchen Yuan Jin Cheng Núria Armengol Urpí Stelian Coros 66 1 0 02 Feb 2025
QuadWBG: Generalizable Quadrupedal Whole-Body Grasping Jilong Wang Javokhirbek Rajabov Chaoyi Xu Yiming Zheng He Wang 30 1 0 11 Nov 2024
Whole-body End-Effector Pose Tracking Tifanny Portela Andrei Cramariuc Mayank Mittal Marco Hutter 40 3 0 24 Sep 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
Mobile ALOHA: Learning Bimanual Mobile Manipulation with Low-Cost Whole-Body Teleoperation Zipeng Fu Tony Zhao Chelsea Finn 100 281 0 04 Jan 2024
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
Learning to Walk in Minutes Using Massively Parallel Deep Reinforcement Learning N. Rudin David Hoeller Philipp Reist Marco Hutter 108 535 0 24 Sep 2021
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
VILENS: Visual, Inertial, Lidar, and Leg Odometry for All-Terrain Legged Robots David Wisth Marco Camurri Maurice F. Fallon 34 114 0 15 Jul 2021
Open-vocabulary Object Detection via Vision and Language Knowledge Distillation Xiuye Gu Tsung-Yi Lin Weicheng Kuo Yin Cui VLM ObjD 220 698 0 28 Apr 2021
U-Net: Convolutional Networks for Biomedical Image Segmentation Olaf Ronneberger Philipp Fischer Thomas Brox SSeg 3DV 229 74,467 0 18 May 2015