ALOHA Unleashed: A Simple Recipe for Robot Dexterity

17 October 2024

Chelsea Finn

Papers citing "ALOHA Unleashed: A Simple Recipe for Robot Dexterity"

44 / 44 papers shown

Title
X-Sim: Cross-Embodiment Learning via Real-to-Sim-to-Real Prithwish Dan K. Kedia Angela Chao Edward Weiyi Duan Maximus Adrian Pace Wei-Chiu Ma Sanjiban Choudhury 9 0 0 11 May 2025
D-CODA: Diffusion for Coordinated Dual-Arm Data Augmentation Isabella Liu Jason Chen Gaurav Sukhatme Daniel Seita 35 0 0 08 May 2025
DexCtrl: Towards Sim-to-Real Dexterity with Adaptive Controller Learning Shuqi Zhao Ke Yang Yuxin Chen Chenran Li Yichen Xie Xiang Zhang Changhao Wang M. Tomizuka 31 0 0 02 May 2025
Latent Diffusion Planning for Imitation Learning Amber Xie Oleh Rybkin Dorsa Sadigh Chelsea Finn 28 1 0 23 Apr 2025
SuFIA-BC: Generating High Quality Demonstration Data for Visuomotor Policy Learning in Surgical Subtasks Masoud Moghani Nigel Nelson Mohamed Ghanem Andres Diaz-Pinto Kush Hari Mahdi Azizian Ken Goldberg Sean Huver Animesh Garg 22 0 0 21 Apr 2025
On the Importance of Tactile Sensing for Imitation Learning: A Case Study on Robotic Match Lighting Niklas Funk Changqi Chen Tim Schneider Georgia Chalvatzaki Roberto Calandra Jan Peters 16 0 0 18 Apr 2025
Crossing the Human-Robot Embodiment Gap with Sim-to-Real RL using One Human Demonstration Tyler Ga Wei Lum Olivia Y. Lee C. Karen Liu Jeannette Bohg 33 0 0 17 Apr 2025
Unified World Models: Coupling Video and Action Diffusion for Pretraining on Large Robotic Datasets Chuning Zhu Raymond Yu S. Feng Benjamin Burchfiel Paarth Shah Abhishek Gupta VGen 53 0 0 03 Apr 2025
ZeroMimic: Distilling Robotic Manipulation Skills from Web Videos Junyao Shi Zhuolun Zhao Tianyou Wang Ian Pedroza Amy Luo Jie Wang Jason Ma Dinesh Jayaraman LM&Ro 43 0 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 37 1 0 28 Mar 2025
HybridGen: VLM-Guided Hybrid Planning for Scalable Data Generation of Imitation Learning Wensheng Wang Ning Tan LM&Ro OffRL 52 0 0 17 Mar 2025
SharedAssembly: A Data Collection Approach via Shared Tele-Assembly Yansong Wu Xiao Chen Yu Chen Hamid Sadeghian Fan Wu Zhenshan Bing Sami Haddadin Alexander König Alois C. Knoll 56 0 0 15 Mar 2025
Can We Detect Failures Without Failure Data? Uncertainty-Aware Runtime Failure Detection for Imitation Learning Policies Chen Xu Tony Nguyen Emma Dixon Christopher Rodriguez Patrick "Tree" Miller Robert Lee Paarth Shah Rares Ambrus Haruki Nishimura Masha Itkina OffRL 78 2 0 11 Mar 2025
Elastic Motion Policy: An Adaptive Dynamical System for Robust and Efficient One-Shot Imitation Learning Tianyu Li Sunan Sun Shubhodeep Shiv Aditya Nadia Figueroa 51 0 0 11 Mar 2025
FP3: A 3D Foundation Policy for Robotic Manipulation Rujia Yang Geng Chen Chuan Wen Yang Gao LM&Ro 65 1 0 11 Mar 2025
BEHAVIOR Robot Suite: Streamlining Real-World Whole-Body Manipulation for Everyday Household Activities Yunfan Jiang Ruohan Zhang J. Wong Chen Wang Yanjie Ze Hang Yin Cem Gokmen Shuran Song Jiajun Wu L. Fei-Fei 67 5 0 07 Mar 2025
Generative Artificial Intelligence in Robotic Manipulation: A Survey Kun Zhang Peng Yun Jun Cen Junhao Cai DiDi Zhu ... Qifeng Chen Jia Pan Wei K. Zhang Bo Yang Hua Chen 55 1 0 05 Mar 2025
FLAME: A Federated Learning Benchmark for Robotic Manipulation Santiago Bou Betran A. Longhini Miguel Vasco Yuchong Zhang Danica Kragic 67 0 0 03 Mar 2025
Sim-to-Real Reinforcement Learning for Vision-Based Dexterous Manipulation on Humanoids Toru Lin Kartik Sachdev Linxi Fan Jitendra Malik Yuke Zhu 36 5 0 27 Feb 2025
Physics-Driven Data Generation for Contact-Rich Manipulation via Trajectory Optimization Lujie Yang H. Suh Tong Zhao B. P. Graesdal Tarik Kelestemur Jiuguang Wang Tao Pang Russ Tedrake 74 2 0 27 Feb 2025
DemoGen: Synthetic Demonstration Generation for Data-Efficient Visuomotor Policy Learning Zhengrong Xue Shuying Deng Zhenyang Chen Yixuan Wang Zhecheng Yuan Huazhe Xu 39 2 0 24 Feb 2025
BFA: Best-Feature-Aware Fusion for Multi-View Fine-grained Manipulation Zihan Lan Weixin Mao H. Li Le Wang Tiancai Wang Haoqiang Fan Osamu Yoshie EgoV 53 2 0 20 Feb 2025
COMBO-Grasp: Learning Constraint-Based Manipulation for Bimanual Occluded Grasping Jun Yamada Alexander L. Mitchell Jack Collins Ingmar Posner OffRL 81 0 0 17 Feb 2025
IMLE Policy: Fast and Sample Efficient Visuomotor Policy Learning via Implicit Maximum Likelihood Estimation Krishan Rana Robert Lee David Pershouse Niko Suenderhauf VGen 44 0 0 17 Feb 2025
DOGlove: Dexterous Manipulation with a Low-Cost Open-Source Haptic Force Feedback Glove H. Zhang Songbo Hu Zhecheng Yuan Huazhe Xu 94 2 0 11 Feb 2025
Imit Diff: Semantics Guided Diffusion Transformer with Dual Resolution Fusion for Imitation Learning Yuhang Dong Haizhou Ge Yupei Zeng J. Zhang Beiwen Tian ... Yufei Jia Ruixiang Wang Ran Yi Guyue Zhou Longhua Ma 51 0 0 11 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
Learning the RoPEs: Better 2D and 3D Position Encodings with STRING Connor Schenck Isaac Reid M. Jacob Alex Bewley Joshua Ainslie ... Matthias Minderer Dmitry Kalashnikov Jonathan Tompson Vikas Sindhwani Krzysztof Choromanski 57 1 0 04 Feb 2025
Strengthening Generative Robot Policies through Predictive World Modeling Han Qi Haocheng Yin Yilun Du Heng Yang 54 1 0 02 Feb 2025
Dexterous Cable Manipulation: Taxonomy, Multi-Fingered Hand Design, and Long-Horizon Manipulation Sun Zhaole Xiao Gao Xiaofeng Mao Jihong Zhu A. Billard Robert B. Fisher 54 0 0 01 Feb 2025
Diffusion-VLA: Scaling Robot Foundation Models via Unified Diffusion and Autoregression Junjie Wen Minjie Zhu Y. X. Zhu Zhibin Tang Jinming Li ... Chengmeng Li Xiaoyu Liu Yaxin Peng Chaomin Shen Feifei Feng 85 13 0 04 Dec 2024
RoboHanger: Learning Generalizable Robotic Hanger Insertion for Diverse Garments Yuxing Chen Songlin Wei Bowen Xiao Jiangran Lyu Jiayi Chen Feng Zhu H. Wang 68 0 0 02 Dec 2024
Dynamic Non-Prehensile Object Transport via Model-Predictive Reinforcement Learning Neel Jawale Byron Boots Balakumar Sundaralingam M. Bhardwaj 81 0 0 27 Nov 2024
Problem Space Transformations for Generalisation in Behavioural Cloning Kiran Doshi Marco Bagatella Stelian Coros 16 0 0 06 Nov 2024
So You Think You Can Scale Up Autonomous Robot Data Collection? Suvir Mirchandani Suneel Belkhale Joey Hejna Evelyn Choi Md Sazzad Islam Dorsa Sadigh OffRL 28 2 0 04 Nov 2024
Learning to Look Around: Enhancing Teleoperation and Learning with a Human-like Actuated Neck Bipasha Sen Michelle Wang Nandini Thakur Aditya Agarwal Pulkit Agrawal 21 0 0 01 Nov 2024
Learning Diffusion Policies from Demonstrations For Compliant Contact-rich Manipulation Malek Aburub C. C. Beltran-Hernandez Tatsuya Kamijo Masashi Hamaya 25 0 0 25 Oct 2024
Proleptic Temporal Ensemble for Improving the Speed of Robot Tasks Generated by Imitation Learning Hyeonjun Park Daegyu Lim Seungyeon Kim Sumin Park 16 0 0 22 Oct 2024
DeformPAM: Data-Efficient Learning for Long-horizon Deformable Object Manipulation via Preference-based Action Alignment Wendi Chen Han Xue Fangyuan Zhou Yuan Fang Cewu Lu 31 0 0 15 Oct 2024
Boosting Camera Motion Control for Video Diffusion Transformers Soon Yau Cheong Duygu Ceylan Armin Mustafa Andrew Gilbert C. Huang DiffM VGen 55 13 0 14 Oct 2024
The Ingredients for Robotic Diffusion Transformers Sudeep Dasari Oier Mees Sebastian Zhao M. K. Srirama Sergey Levine 38 19 0 14 Oct 2024
ManiSkill3: GPU Parallelized Robotics Simulation and Rendering for Generalizable Embodied AI Stone Tao Fanbo Xiang Arth Shukla Yuzhe Qin Xander Hinrichsen ... Zhiao Huang Roberto Calandra Rui Chen Shan Luo Hao Su 21 22 0 01 Oct 2024
Discrete Policy: Learning Disentangled Action Space for Multi-Task Robotic Manipulation Kun Wu Yichen Zhu Jinming Li Junjie Wen Ning Liu Zhiyuan Xu Qinru Qiu 33 4 0 27 Sep 2024
TinyVLA: Towards Fast, Data-Efficient Vision-Language-Action Models for Robotic Manipulation Junjie Wen Y. X. Zhu Jinming Li Minjie Zhu Kun Wu ... Ran Cheng Chaomin Shen Yaxin Peng Feifei Feng Jian Tang LM&Ro 56 41 0 19 Sep 2024