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• Uncategorized

  • Rethinking Latent Representations in Behavior Cloning: An Information Bottleneck Approach for Robot Manipulation
  • S$^2$-Diffusion: Generalizing from Instance-level to Category-level Skills in Robot Manipulation
  • SAM2Act: Integrating Visual Foundation Model with A Memory Architecture for Robotic Manipulation
  • Scalable, Training-Free Visual Language Robotics: A Modular Multi-Model Framework for Consumer-Grade GPUs
  • SKIL: Semantic Keypoint Imitation Learning for Generalizable Data-efficient Manipulation
  • Universal Actions for Enhanced Embodied Foundation Models
  • When Pre-trained Visual Representations Fall Short: Limitations in Visuo-Motor Robot Learning
  • ZeroBP: Learning Position-Aware Correspondence for Zero-shot 6D Pose Estimation in Bin-Picking
  • Vegetable Peeling: A Case Study in Constrained Dexterous Manipulation - peeling)
  • VidMan: Exploiting Implicit Dynamics from Video Diffusion Model for Effective Robot Manipulation
  • VLMPC: Vision-Language Model Predictive Control for Robotic Manipulation
  • VQ-ACE: Efficient Policy Search for Dexterous Robotic Manipulation via Action Chunking Embedding - ethz.github.io/page-vq-ace/)
  • WHALE: Towards Generalizable and Scalable World Models for Embodied Decision-making
  • AnyTeleop: A General Vision-Based Dexterous Robot Arm-Hand Teleoperation System
  • Contact Edit: Artist Tools for Intuitive Modeling of Hand-Object Interactions
  • Beyond Behavior Cloning: Robustness through Interactive Imitation and Contrastive Learning
  • Biohybrid hand actuated by multiple human muscle tissues
  • DexMOTS: Learning Contact-Rich Dexterous Manipulation in an Object-Centric Task Space with Differentiable Simulation
  • DexterityGen: Foundation Controller for Unprecedented Dexterity
  • ScissorBot: Learning Generalizable Scissor Skill for Paper Cutting via Simulation, Imitation, and Sim2Real
  • SkillTree: Explainable Skill-Based Deep Reinforcement Learning for Long-Horizon Control Tasks
  • SPIRE: Synergistic Planning, Imitation, and Reinforcement Learning for Long-Horizon Manipulation - corl-2024)
  • STEER: Flexible Robotic Manipulation via Dense Language Grounding
  • Dexterous Pre-grasp Manipulation for Human-like Functional Categorical Grasping: Deep Reinforcement Learning and Grasp Representations
  • Improving Vision-Language-Action Model with Online Reinforcement Learning
  • Generalizing Safety Beyond Collision-Avoidance via Latent-Space Reachability Analysis
  • Learning to Transfer Human Hand Skills for Robot Manipulations
  • Make a Donut: Hierarchical EMD-Space Planning for Zero-Shot Deformable Manipulation with Tools
  • MuJoCo Playground
  • MuST: Multi-Head Skill Transformer for Long-Horizon Dexterous Manipulation with Skill Progress
  • RealDex: Towards Human-like Grasping for Robotic Dexterous Hand
  • RISE: 3D Perception Makes Real-World Robot Imitation Simple and Effective - policy.github.io/)
  • Robot Synesthesia: In-Hand Manipulation with Visuotactile Sensing
  • Robots Pre-train Robots: Manipulation-Centric Robotic Representation from Large-Scale Robot Datasets - pretrain-robots.github.io/)
  • 3D Diffuser Actor: Policy Diffusion with 3D Scene Representations - diffuser-actor.github.io/)
  • AnyRotate: Gravity-Invariant In-Hand Object Rotation with Sim-to-Real Touch
  • ALPHA-α and Bi-ACT Are All You Need: Importance of Position and Force Information/Control for Imitation Learning of Unimanual and Bimanual Robotic Manipulation with Low-Cost System
  • ASID: Active Exploration for System Identification in Robotic Manipulation
  • AutoMate: Specialist and Generalist Assembly Policies over Diverse Geometries
  • Avoid Everything: Model-Free Collision Avoidance with Expert-Guided Fine-Tuning - everything.github.io/)
  • Behavior Generation with Latent Actions - bet/)
  • Bridging the Resource Gap: Deploying Advanced Imitation Learning Models onto Affordable Embedded Platforms
  • CHG-DAgger: Interactive Imitation Learning with Human-Policy Cooperative Control
  • ClevrSkills: Compositional Language and Visual Reasoning in Robotics
  • Consistency Policy: Accelerated Visuomotor Policies via Consistency Distillation - policy.github.io/)
  • DexCap: Scalable and Portable Mocap Data Collection System for Dexterous Manipulation - cap.github.io/)
  • DexDiffuser: Interaction-aware Diffusion Planning for Adaptive Dexterous Manipulation
  • DextrAH-G: Pixels-to-Action Dexterous Arm-Hand Grasping with Geometric Fabrics
  • DeXtreme: Transfer of Agile In-hand Manipulation from Simulation to Reality
  • Diff-Control: A Stateful Diffusion-based Policy for Imitation Learning - control.github.io/)
  • DIFFTACTILE: A Physics-based Differentiable Tactile Simulator for Contact-rich Robotic Manipulation
  • Effective Virtual Reality Teleoperation of an Upper-body Humanoid with Modified Task Jacobians and Relaxed Barrier Functions for Self-Collision Avoidance
  • EgoMimic: Scaling Imitation Learning via Egocentric Video
  • Error-Feedback Model for Output Correction in Bilateral Control-Based Imitation Learning
  • Exploring the Adversarial Vulnerabilities of Vision-Language-Action Models in Robotics
  • Flow Matching Imitation Learning for Multi-Support Manipulation
  • G3Flow: Generative 3D Semantic Flow for Pose-aware and Generalizable Object Manipulation
  • Grasping Diverse Objects with Simulated Humanoids - Site/)
  • Grasp Anything: Combining Teacher-Augmented Policy Gradient Learning with Instance Segmentation to Grasp Arbitrary Objects
  • Grasp Multiple Objects with One Hand
  • GraspXL: Generating Grasping Motions for Diverse Objects at Scale - ait.github.io/graspxl/)
  • Hand-Object Interaction Pretraining from Videos
  • Instant Policy: In-Context Imitation Learning via Graph Diffusion - learning.uk/instant-policy)
  • Kinematic Motion Retargeting for Contact-Rich Anthropomorphic Manipulations
  • Learning a Shape-Conditioned Agent for Purely Tactile In-Hand Manipulation of Various Objects - lab.org/manipulation/iros24)
  • Learning Multimodal Behaviors from Scratch with Diffusion Policy Gradient
  • Learning Precise Affordances from Egocentric Videos for Robotic Manipulation
  • LEGATO: Cross-Embodiment Imitation Using a Grasping Tool - hcrl.github.io/LEGATO/)
  • On the Role of the Action Space in Robot Manipulation Learning and Sim-to-Real Transfer
  • Lift3D Foundation Policy: Lifting 2D Large-Scale Pretrained Models for Robust 3D Robotic Manipulation - web.github.io/)
  • METRA: Scalable Unsupervised RL with Metric-Aware Abstraction
  • PreAfford: Universal Affordance-Based Pre-Grasping for Diverse Objects and Environments - discover.github.io/PreAfford/)
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  • ![ - MARL/DexterousHands) <img src="https://img.shields.io/github/stars/PKU-MARL/DexterousHands?style=flat-square&color=yellow">
  • ![ - chen/Robotic-grasping-papers) <img src="https://img.shields.io/github/stars/rhett-chen/Robotic-grasping-papers?style=flat-square&color=yellow">
  • ![ - colosseum/robot-colosseum) <img src="https://img.shields.io/github/stars/robot-colosseum/robot-colosseum?style=flat-square&color=yellow">
  • Sampling-Based Model Predictive Control for Dexterous Manipulation on a Biomimetic Tendon-Driven Hand
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  • TacEx: GelSight Tactile Simulation in Isaac Sim - Combining Soft-Body and Visuotactile Simulators
  • TacSL: A Library for Visuotactile Sensor Simulation and Learning
  • THE COLOSSEUM: A Benchmark for Evaluating Generalization for Robotic Manipulation - colosseum.github.io/)
  • The Foundational Pose as a Selection Mechanism for the Design of Tool-Wielding Multi-Finger Robotic Hands
  • The Role of Action Abstractions in Robot Manipulation Learning and Sim-to-Real Transfer
  • Towards Tight Convex Relaxations for Contact-Rich Manipulation - towards-tight-convex-relaxations/)
  • Twisting Lids Off with Two Hands
  • Deep Reinforcement Learning of Dexterous Pre-grasp Manipulation for Human-like Functional Categorical Grasping
  • DexDeform: Dexterous Deformable Object Manipulation with Human Demonstrations and Differentiable Physics
  • General In-Hand Object Rotation with Vision and Touch
  • Getting the Ball Rolling: Learning a Dexterous Policy for a Biomimetic Tendon-Driven Hand with Rolling Contact Joints
  • IndustReal: Transferring Contact-Rich Assembly Tasks from Simulation to Reality
  • Neural feels with neural fields: Visuo-tactile perception for in-hand manipulation
  • Perceiving Extrinsic Contacts from Touch Improves Learning Insertion Policies
  • Rotating without Seeing: Towards In-hand Dexterity through Touch
  • Tacchi: A Pluggable and Low Computational Cost Elastomer Deformation Simulator for Optical Tactile Sensors
  • UniDexGrasp++: Improving Dexterous Grasping Policy Learning via Geometry-aware Curriculum and Iterative Generalist-Specialist Learning - epic.github.io/UniDexGrasp++/)
  • Factory: Fast Contact for Robotic Assembly
  • Visual Dexterity: In-Hand Reorientation of Novel and Complex Object Shapes
  • Efficient Tactile Simulation with Differentiability for Robotic Manipulation
  • In-Hand Object Rotation via Rapid Motor Adaptation
  • Tactile Gym 2.0: Sim-to-real Deep Reinforcement Learning for Comparing Low-cost High-Resolution Robot Touch
  • A System for General In-Hand Object Re-Orientation
  • OSCAR: Data-Driven Operational Space Control for Adaptive and Robust Robot Manipulation
  • ReSkin: versatile, replaceable, lasting tactile skins
  • STORM: An Integrated Framework for Fast Joint-Space Model-Predictive Control for Reactive Manipulation
  • Tactile-RL for Insertion: Generalization to Objects of Unknown Geometry
  • A Long Horizon Planning Framework for Manipulating Rigid Pointcloud Objects - planning-framework/)
  • Cable Manipulation with a Tactile-Reactive Gripper
  • DIGIT: A Novel Design for a Low-Cost Compact High-Resolution Tactile Sensor with Application to In-Hand Manipulation
  • Precise and realistic grasping and manipulation in Virtual Reality without force feedback
  • TACTO: A Fast, Flexible and Open-source Simulator for High-Resolution Vision-based Tactile Sensors
  • A grasp strategy with the geometric centroid of a groped object shape derived from contact spots
  • Integration of recognition and planning for robot hand grasping
  • Learning Complex Dexterous Manipulation with Deep Reinforcement Learning and Demonstrations
  • ![ - MARL/DexterousHands) <img src="https://img.shields.io/github/stars/dexsuite/dex-retargeting?style=flat-square&color=yellow">
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  • ![ - deepmind/mujoco_playground/) <img src="https://img.shields.io/github/stars/google-deepmind/mujoco_playground?style=flat-square&color=yellow">
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  • ![ - Touch) <img src="https://img.shields.io/github/stars/linchangyi1/Awesome-Touch?style=flat-square&color=yellow">
  • Human-like dexterous manipulation for anthropomorphic five-fingered hands: A review
  • Review on human-like robot manipulation using dexterous hands
  • Review of Learning-Based Robotic Manipulation in Cluttered Environments
  • A Survey of Embodied Learning for Object-Centric Robotic Manipulation
  • Learning by Watching: A Review of Video-based Learning Approaches for Robot Manipulation
  • DOGlove: Dexterous Manipulation with a Low-Cost Open-Source Haptic Force Feedback Glove - glove.github.io/)
  • AnySkin: Plug-and-play Skin Sensing for Robotic Touch
  • Learning In-Hand Translation Using Tactile Skin With Shear and Normal Force Sensing
  • Canonical Representation and Force-Based Pretraining of 3D Tactile for Dexterous Visuo-Tactile Policy Learning
  • From Simple to Complex Skills: The Case of In-Hand Object Reorientation
  • Robust Adaptive Safe Robotic Grasping with Tactile Sensing
  • ![ - chen/Robotic-grasping-papers) <img src="https://img.shields.io/github/stars/rhett-chen/Robotic-grasping-papers?style=flat-square&color=yellow">
  • ![ - web-visualizer) <img src="https://img.shields.io/github/stars/NVlabs/sim-web-visualizer?style=flat-square&color=yellow">
  • ![ - MARL/DexterousHands) <img src="https://img.shields.io/github/stars/PKU-MARL/DexterousHands?style=flat-square&color=yellow">
  • Bimanual Dexterity for Complex Tasks - teleop.github.io/)
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  • ![ - deepmind/mujoco_playground/) <img src="https://img.shields.io/github/stars/google-deepmind/mujoco_playground?style=flat-square&color=yellow">
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  • ![ - Touch) <img src="https://img.shields.io/github/stars/linchangyi1/Awesome-Touch?style=flat-square&color=yellow">
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  • A Model-Free Approach to Fingertip Slip and Disturbance Detection for Grasp Stability Inference
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  • RUKA: Rethinking the Design of Humanoid Hands with Learning - hand.github.io/)
  • Bridging the Human to Robot Dexterity Gap through Object-Oriented Rewards - rewards.github.io/)